粒子群优化模糊PID履带机器人运动控制研究.docVIP

粒子群优化模糊PID履带机器人运动控制研究 　　摘 要： 履带机器人运动控制系统中最重要的内容是控制驱动电机的转速问题。履带机器人对系统的动态特性要求较高，而且在其运动的过程中容易出现超调、振荡和两电机不同步的问题，基于传统控制策略的PID控制效果难以令人满意；模糊PID控制器尽管可以改善系统的性能，但对于模糊控制器中的模糊规则、?`属度函数的制定要依靠大量的专家经验。鉴于以上分析，设计一种改进的粒子群优化模糊PID算法实现对直流电机速度控制的运动控制系统。另外，为了提高履带机器人直行运动的性能，在两驱动电机控制系统中间设计速度同步补偿器。最后，通过在Matlab仿真表明，采用粒子群优化算法的模糊PID控制的运动控制系统具有更加理想的响应速度、稳定性、抗干扰性和控制精度，在硬件平台验证了履带机器人的直行效果良好。 　　关键词： 履带机器人； 粒子群优化算法； 模糊PID； 速度同步补偿器； 运动控制； 驱动电机 　　中图分类号： TN383+.3?34 文献标识码： A 文章编号： 1004?373X（2018）18?0049?05 　　Research on tracked robot motion control based on particle 　　swarm optimization and fuzzy PID 　　CHAI Yu， WANG Qiao 　　（School of Electrical and Control Engineering， Xi’an University of Science and Technology， Xi’an 710054， China） 　　Abstract： The most important content of the tracked robot motion control system is to control the speed of the drive motor. The tracked robot has high requirements on the dynamic feature of the system， problems of overshoot， oscillation and unsynchronization of two motors may occur during the robot movement process， and the effect of PID control based on the traditional control strategy is unsatisfactory. The fuzzy PID controller can improve the performance of the system， but the development of the fuzzy rule and membership function of the fuzzy controller must rely on a great amount of expertise. In view of the above analysis， an improved particle swarm optimized fuzzy PID algorithm is designed to achieve the motion control system that can control DC motor speed. The designed speed synchronization compensator is put between two drive motor control systems， so as to improve the straight movement performance of the tracked robot. The Matlab simulation results show that the motion control system based on the particle swarm optimization algorithm and fuzzy PID control has optimal response speed， stability， anti?interference performance， and control precision. The good straight movement effect of the tracked robot is verified on the hardware platform. 　　Keywords： tra