基于模糊PID的助行机器人调速系统的研究

Research on Fuzzy PID Speed Control System of Walker Aid Robot

摘要:

助行机器人对系统的动态特性要求较高,而且在其爬楼的过程中有诸多不确定的因素,基于传统控制策略的单闭环负反馈控制系统调速效果难以令人满意；在这种情况下建立了系统的数学模型,设计了基于模糊PID的双闭环调速控制系统,并和传统的PID控制进行了对比；为了保证助行机器人爬楼过程的平稳性和乘坐者的舒适性,参考电梯运行的速度曲线,设计了正弦速度给定曲线；仿真结果表明:在助行机器人调速系统中,模糊PID控制比传统PID控制启动和制动过程更平稳,舒适性更高,误差更小,精度更高。

Abstract:

The walker aid robot has very high demand on the dynamic characteristics of the system, and in the process of climbing stairs, it also has many uncertain factors. So the result of single closed-loop feedback control system based on the traditional control strategy is bad and unsatisfactory. In the circumstances, I have established the mathematical model of the system, and designed the double closed loop speed control system based on fuzzy PID compared with the traditional PID. In order to guarantee stability and comfortable of the process, I have designed the sine speed curve according to the speed of elevator running curve. The simulation results show that fuzzy PID control is better than traditional PID control, starting and braking process is smoother, more comfortable.