| 轮式移动机器人路径跟踪的模糊自整定PID控制 |
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| 引用本文： | 金燕,刘少军,韩庆珏,何炎权. 轮式移动机器人路径跟踪的模糊自整定PID控制[J]. 机电工程技术, 2006, 35(1): 21-24 |
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| 作者姓名： | 金燕 刘少军 韩庆珏 何炎权 |
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| 作者单位： | 中南大学机电工程学院,湖南,长沙,410083;中南大学机电工程学院,湖南,长沙,410083;中南大学机电工程学院,湖南,长沙,410083;中南大学机电工程学院,湖南,长沙,410083 |
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| 基金项目： | 中国大洋矿产资源研究开发协会科研项目 |
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| 摘 要： | 本文建立了二自由度轮式移动机器人路径跟踪的动力学模型，并设计了自整定模糊PID控制器，利用模糊推理的方法，对PID控制器的参数进行自动整定。仿真实验用常规增量式PID控制和自整定模糊PID控制算法结合进行航向跟踪，结果表明该算法与常规PID算法相比，系统误差减少了20%左右，响应时间减小到原来的0.4,有效地改善了控制器的动态性能，同时表现出了较好的自适应能力，路径跟踪仿真结果表明，轮式移动机器人能够迅速向目标路径靠拢，并能平稳地践踏规划路径。
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| 关 键 词： | 轮式移动机器人 航向跟踪 路径跟踪 模糊自整定PID控制 |
| 文章编号： | 1009-9492（2006）01-0021-04 |
| 收稿时间： | 2005-07-20 |
| 修稿时间： | 2005-07-20 |
Fuzzy Self-tuning PID Control of Path Tracking for Wheeled Mobile Robot |
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| JIN Yan,LIU Shao-jun,HAN Qing-jue,HE Yan-quan. Fuzzy Self-tuning PID Control of Path Tracking for Wheeled Mobile Robot[J]. Mechanical & Electrical Engineering Technology, 2006, 35(1): 21-24 |
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| Authors: | JIN Yan LIU Shao-jun HAN Qing-jue HE Yan-quan |
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| Abstract: | A dynamic model of two degrees of freedom for the wheeled mobile robot is built and a self-tuning fuzzy PID controller is designed in this paper.The PID controller parameters are adjusted automatically according to different error situations by the way of fuzzy reasoning.In simulation experiment,a fuzzy PID controller is tested.The system errors are reduced by about 20%,and the response time is decreased to 40% of the original compared with regular control method.The dynamic characteristics of the controller are improved obviously and its adaptive ability tests well.The results of path tracking simulation show that the wheeled mobile robot can be close to the target route rapidly and follow the programmed route steadily. |
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| Keywords: | wheeled mobile robot heading following path tracking fuzzy self-tuning PID |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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