摘要
两轮自平衡机器人具有结构简单、运动灵活、成本低廉等特点,笔者基于Lagrange方程建立了机器人的动力学模型,采用模糊PID控制,通过比较3种模糊规则,选取了综合控制效果最优的模糊规则。该规则在模糊PID控制下能够自动修正PID的参数,并且在MATLAB/SIMULINK和ADAMS的联合仿真中实现了两轮机器人系统的平衡控制。
The two-wheel self-balancing robot has the characteristics of simple structure,flexible movement and low cost.The author established the dynamic model of the robot based on the Lagrange equation and adopted fuzzy PID control.By comparing three fuzzy rules,the fuzzy one with the best comprehensive control effect was selected.rule.This rule can automatically correct PID parameters under fuzzy PID control,and realize the balance control of the two-wheeled robot system in the joint simulation of MATLAB/SIMULINK and ADAMS.
作者
秦云翔
李冠奎
欧冬梅
QIN Yunxiang;LI Guankui;OU Dongmei(School of Mechanical Engineering,Sichuan University,Chengdu Sichuan 610065,China)
出处
《信息与电脑》
2021年第7期176-179,共4页
Information & Computer
