基于模糊pd控制的两轮自平衡机器人控制系统设计

Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI:10.1109/ICICIP.2014.7010333

Song Xin, Min Gong, Yangquan Sun, Zhongqiu Zhang

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引用次数: 4

摘要

针对非线性、自然不稳定的两轮自平衡机器人，提出了一种基于Fuzzy-PD的复合控制算法。首先，从两轮自平衡机器人的结构出发，基于牛顿-欧拉理论建立了数学模型;其次，设计了模糊pd控制器，解决了传统控制器在大角度范围内不能快速稳定地达到预期结果的问题，减少了在物理系统中使用多维模糊控制器时因“规则爆炸”造成的运行时间。最后，通过仿真研究和物理实验验证了模糊pd控制器的有效性。

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Control system design for two-wheel self-balanced robot based on Fuzzy-PD control

For nonlinear and natural unstable two-wheel self-balanced robot, a compound control algorithm based on Fuzzy-PD is proposed. Firstly, the mathematical model is established based on Newton-Euler's theory from the structure of two-wheel self-balanced robot. Secondly, the Fuzzy-PD controller is designed to solve the problem that traditional controllers cannot reach the expected result rapidly and steady in a large range of angle, and decrease the operation time caused by "rule explosion" when using multi-dimension fuzzy controllers in a physical system. Finally, simulation study and physical test are performed to verify the effectiveness of the Fuzzy-PD controller.

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Fifth International Conference on Intelligent Control and Information Processing

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