论文部分内容阅读
传统的PID控制器结构简单、实现简单、控制效果良好,所以在足球机器人中广泛应用。但由于机器人机械加工精度问题,每个足球机器人都存在个体差异,很难得到一致的PID控制参数。本文提出了一种基于模糊控制理论的足球机器人控制系统,针对传统PID控制器的特点,将摸糊控制技术引入到PID参数自整定过程中,根据不同情况在线自整定PID参数。通过和传统的PID控制器比较,模糊自适应PID控制器具有具有灵活性好,控制适应性强,动态、静态性能好等优点。在MIROSO机器人上验证了该控制器的有效性和实用性。
The traditional PID controller has the advantages of simple structure, simple implementation and good control effect, so it is widely used in soccer robots. However, due to the robot machining accuracy problems, each soccer robot has individual differences, it is difficult to get a consistent PID control parameters. In this paper, a soccer robot control system based on fuzzy control theory is proposed. According to the characteristics of traditional PID controller, fuzzy control technology is introduced into PID parameter self-tuning process, and the PID parameters are self-tuning according to different situations. Compared with the traditional PID controller, fuzzy adaptive PID controller has the advantages of good flexibility, strong control adaptability, good dynamic performance and static performance. The validity and practicability of this controller are verified on the MIROSO robot.