基于自适应模糊PID运动控制系统的设计

内容为了提高四轮驱动机器人的速度控制性能和红外循迹轨迹跟踪响应效果,将传统PID控制和模糊推理相结合,设计了一种基于自适应模糊PID的四轮驱动循迹控制系统,介绍了系统总体结构和模糊控制理论,设计了一种自适应模糊PID控制器,给出了以转速为内环,位置偏差为外环的双闭环模糊控制方法,利用simulink对模糊PID算法的控制效果进行了仿真,并在四轮驱动控制系统试验平台上进行速度控制实验和循迹动态响应实验研究,结果表明本文所设计的自适应模糊PID相对于传统PID响应更快,减少系统稳态误差,提高移动平台的红外循迹过程中的轨迹跟踪动态响应效果。

Design of Motion Control System Based on Adaptive Fuzzy-PID

In order to improve the speed control performance and infrared tracking response effect of four-wheel drive robot, a tracking control system based on adaptive fuzzy PID is designed by combining traditional PID control with fuzzy reasoning. The overall structure of the system and the theory of fuzzy control are introduced. An adaptive fuzzy PID controller is designed. The speed is the inner loop and the position deviation is the outer loop. The double closed-loop fuzzy control method simulates the control effect of the fuzzy PID algorithm by using simulink, and carries out speed control experiment and track dynamic response experiment on the four-wheel drive control system test platform. The results show that the adaptive fuzzy PID designed in this paper responds faster than the traditional PID, reduces the steady-state error of the system and improves the infrared track passing of the mobile platform. The trajectory tracking dynamic response effect in the process.