Adik S. Wardoyo, S. Hendi, D. Sebayang, I. Hidayat, A. Adriansyah
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引用次数: 15
摘要
设计了模糊逻辑与PID控制相结合的方法，实现了扰动力大小、位置和持续时间的变化，对两轮自平衡机器人进行了优化。利用Matlab软件获取simulink对实验过程进行仿真。仿真结果表明，采用自整定方法得到的PID参数Kp = 16.60, Ki = 8.47, Kd = 8.90。仿真结果表明，模糊控制与PID控制相结合可使控制误差减小约60%。结果表明，与模糊逻辑相比，模糊逻辑与PID相结合能更好地减小两轮自平衡机器人的误差。
An investigation on the application of fuzzy and PID algorithm in the two wheeled robot with self balancing system using microcontroller
The Fuzzy logic combined with PID control is designed to implement the effect of a disturbance force varying in magnitude, position, and duration to optimize the two wheeled and self-balancing robot. Matlab software was used to obtain Simulink-simulation of the experiment process. The simulation results shows that PID parameters that obtained from the use of auto-tuning is Kp = 16.60, Ki = 8.47, and Kd = 8.90. The simulation results of Fuzzy and PID combination shows that the error can be reduce approximately around 60 %. It is indicated that the Fuzzy logic with PID was better to reduce error in Two Wheeled and Self Balancing Robot than using Fuzzy logic.
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