机器人驾驶员加速腿控制建模

2009 International Asia Conference on Informatics in Control, Automation and Robotics Pub Date : 2009-02-01 DOI:10.1109/CAR.2009.100

Zhigang Niu, Yunping Sun

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引用次数: 1

摘要

建立了加速腿的动态物理规律数学模型，从而得到了控制系统的传递函数。采用PID控制方法设计系统控制器。采用临界比例法确定PID控制器的初始参数。基于初始安装参数，利用SIMULINK对控制系统进行仿真。根据仿真结果进一步调整PID控制器的参数。

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Control Modeling for Accelerator Leg of Robot Driver

The dynamic physics rule mathematical model of accelerator leg is established, thus, the transfer function of control system is obtained. PID control method is used to design system controller. The critical proportioning method is used to determine the initial parameters of PID controller. SIMULINK is used to simulate the control system based on the initial installed parameters. The parameters of the PID controller are further adjusted according to the simulation results.

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来源期刊

2009 International Asia Conference on Informatics in Control, Automation and Robotics

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