摘要
针对传统四轮机器人差速控制效果不佳的问题,提出一种基于麻雀搜索算法(SSA)优化模糊PID控制器的机器人差速控制方法。构建四轮机器人差速控制运动模型,采用SSA对模糊PID控制器的比例、积分和微分三个增益参数进行有效优化,将SSA-模糊PID控制器输入至四轮机器人运动模型中进行差速控制。仿真结果表明,相较于常规PID控制器、模糊PID控制器、BP-NSGA-Ⅱ控制器和PSO-PID控制器,该控制器可对四轮机器人运行速度进行迅速控制,修正偏差的波动较小,其在3.1 s时的偏差取值为0。结果验证了该模型在四轮机器人差速控制中的响应速度较快、波动少,可使四轮机器人的行驶过程更具稳定性。
Based on the problem of poor differential control effect of traditional four-wheel robot,a robot differential control method for optimizing fuzzy PID controller based on sparrow search algorithm(SSA)was proposed.The four-wheel robot differential control motion model was constructed.The SSA algorithm was used to effectively optimize the three gain parameters of the fuzzy PID controller.The SSA-fuzzy PID controller is input to the four-wheel robot motion model for differential control.The simulation results showed that compared with the conventional PID controller,fuzzy PID controller,BP-NSGA-controller and PSO-PID controller,the controller can quickly control the running speed of the four-wheel robot quickly,the correction deviation fluctuation was small,and the deviation value was 0 at 3.1 s.It showed that the response speed and less fluctuation in the differential control of four-wheel robot are faster,which can make the driving process of four-wheel robot more stable.
作者
吕文艳
LÜWenyan(The Vocational University of Urumqi,Urumqi 830001,China)
出处
《微特电机》
2025年第5期65-70,共6页
Small & Special Electrical Machines
关键词
四轮机器人
差速控制
麻雀搜索算法
模糊PID控制
运动模型
four-wheel robot
differential control
sparrow search algorithm(SSA)
fuzzy PID control
motion model
