輪式移動(dòng)機(jī)器人零半徑轉(zhuǎn)向過(guò)程pid控制解析設(shè)計(jì)及實(shí)現(xiàn)[編號(hào)275](已修改)
2025-06-19 22:40 本頁(yè)面
【正文】 輪式移動(dòng)機(jī)器人零半徑轉(zhuǎn)向過(guò)程PID控制解析設(shè)計(jì)與實(shí)現(xiàn)張清華 秦世引 萬(wàn)九卿北京航空航天大學(xué)自動(dòng)化科學(xué)與電氣工程學(xué)院 100083：zhangqh0528@摘要：在輪式滑動(dòng)轉(zhuǎn)向移動(dòng)機(jī)器人（WSMR）的導(dǎo)航研究中，轉(zhuǎn)向控制是一個(gè)重要的環(huán)節(jié)。本文首先對(duì)輪式滑動(dòng)轉(zhuǎn)向移動(dòng)機(jī)器人的零半徑轉(zhuǎn)向進(jìn)行分析，建立了零半徑轉(zhuǎn)向控制的數(shù)學(xué)模型。然后針對(duì)此數(shù)學(xué)模型，利用解析法設(shè)計(jì)出可以達(dá)到特定控制性能的PID控制器，并進(jìn)行了數(shù)字仿真，最后把該算法應(yīng)用在實(shí)際的機(jī)器人轉(zhuǎn)向控制中，結(jié)果表明控制效果良好，達(dá)到了預(yù)期的設(shè)計(jì)指標(biāo)。關(guān)鍵詞：輪式移動(dòng)機(jī)器人 滑動(dòng)轉(zhuǎn)向 PID控制算法 解析法設(shè)計(jì)Analytic Design and Implementation of PID Controller for the Zeroradius Steering of a Wheeled Skidsteer Mobile RobotAbstract：The steering control is significant in the research on the navigation of a wheeled skidsteer robot. In this paper, the zeroradius steering mode of a wheeled skidsteer robot is analyzed and its model is established. Then the PID controller with specific performance is designed by means of analytic method and the corresponding digital simulation is carried out. In the end, the control algorithm is implemented on several wheeled skidsteer robots respectively. Experiment results demonstrate that the real control effect is satisfied，which achieves the required performance.Keywords：wheeled mobile robot skidst
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