通信学报 ›› 2016, Vol. 37 ›› Issue (Z1): 43-49.doi: 10.11959/j.issn.1000-436x.2016246

• 学术论文 • 上一篇    下一篇

基于PID的移动机器人运动控制系统设计与实现

杜孝平,赵凯琪   

  1. 北京航空航天大学软件学院,北京 100191
  • 出版日期:2016-10-25 发布日期:2017-01-17

Design and implementation of the motion control system of the mobile robot based on PID

Xiao-ping DU,Kai-qi ZHAO   

  1. School of Software,Beihang University,Beijing 100191
  • Online:2016-10-25 Published:2017-01-17

摘要:

介绍了一种自主移动机器人的运动控制系统,通过自主移动机器人的运动学建模,提出了一种有效控制机器人沿期望速度和方向运动的PID 闭环控制方法,以此开发了以STC12C5A60S2微处理器、MC33886电机驱动芯片与霍尔传感器为主要构件的硬件系统,以及模块化的软件程序,实验证实该控制方法有效且稳定。

关键词: 自主移动机器人, PID, 运动控制, 速度响应曲线

Abstract:

A kind of motion control system of the autonomous mobile robot was introduced,and a PID closed-loop control method was proposed that controlling the robot moving along the expected direction and speed effectively through establishing the kinematics model of the autonomous mobile robot.In addition,the modular software program and the hardware system were developed whose main components were the STC12C5A60S2 microprocessor,the MC33886 motor driver chip and hall sensors.Finally,experiments proves the control method and the system effective and stable.

Key words: autonomous mobile robot, PID, motion control, velocity-response curve

No Suggested Reading articles found!