王鑫;劉怡明;王明明;孫曉云;陳勇;

• 1:石家莊鐵道大學電氣與電子工程學院

摘要(Abstract)：

針對輪式機器人在行走過程中存在速度平衡超調較大與調節時間較長、速度平衡效果較差的問題,采用Matlab/Simulink與Carsim仿真軟件建立輪式機器人四輪差速運動模型,對于無刷直流電機(BLDCM)系統,在原有模糊PID的基礎上,結合抗積分飽和算法與變速積分算法,提出一種改進模糊PID控制的調速方法。仿真結果表明,通過抗積分飽和與變速積分算法改進后的模糊PID控制器與傳統模糊PID控制器相比,在機器人速度平衡控制過程中,超調降低30%,調節時間降低33%,具有速度響應時間短、速度響應曲線波動小的優點。搭建了輪式機器人實驗驗證平臺,實驗結果表明,改進后的模糊PID控制調速方法的速度響應快,滿足輪式機器人速度控制需求。所提設計可為輪式機器人速度穩定系統調試提供理論指導,并可應用于以速度調控為主導的控制系統。

關鍵詞(KeyWords)： 機器人控制;輪式機器人;抗積分飽和;變速積分;模糊PID

Abstract:

Keywords:

基金項目(Foundation): 國家自然科學基金(51674169);; 河北省教育廳重點項目(ZD2018039);; 河北省研究生創新資助項目(CXZZSS2019064)

作者(Author): 王鑫;劉怡明;王明明;孫曉云;陳勇;

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DOI:

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