摘要
主要对四轮移动小车的运动轨迹控制部分进行研究，采用模糊控制方法，控制各个电机的功率和转向，实现四轮小车转速较大范围误差调节．加快电机启动速度。达到控制平滑和节能的目的，使运动控制系统兼顾实时性高、稳定性强等设计要点：并可通过模糊控制规则库的扩充，提高小车的灵活性。对运动状态进行闭环控制．通过测量脉冲数检测小车是否按所接收指令运动，以达到一定的控制精度，保证小车运动达到预期目的。
Mainly concentrates on studying the four-wheel mobile robot trajectory tracking. Through the f uzzy control method, controls all motor power and steering, to achieve a greater range of error of four-wheel car speed regulator, speed up the motor start speed, and the smoothness and energy efficiency. Through the expansion of motion control rule base, we can improve the flexibility of car. On the motion state of the closed loop control, the number of pulses detects whether the car is commanded to achieve a certain precision, and ensures car to achieve the desired results.
出处
《现代计算机》
2011年第12期12-15,43,共5页
Modern Computer
