基于改进型积分分离式PID的机器人运动控制

摘要

针对移动机器人在旋转角度控制时，普通PID控制器存在超调、波动和普通积分分离式PID存在响应速度慢的问题。提出了改进型积分分离式PID控制算法，采取对PID控制器的比例项和积分项同时进行控制的方法，并针对不同阶段误差采取参数自适应的控制。改进型积分分离式PID控制器避免了超调和波动，提高了系统的稳定性，同时又提高了系统的响应速度。与普通积分分离式PID相比，系统输入大约提前500 ms消除静差，系统响应大约提前400 ms消除静差。在机器人旋转控制时，避免了机器人的旋转波动，减少了对轮子的磨损，同时又能准确快速的旋转到目标方向。%For the mobile robot to control the rotation angle,the general PID controller has the disadvantages of overshoot,fluctuation,and the ordinary integral separated PID has the problem of slow response speed. A new integral separated PID control algorithm is proposed that is used to control the PID controller's proportion and the integral term. The new integral separated PID controller avoids the overshoot and fluctuation,improves the stability of the system,and improves the response speed of the system. Compared with the ordinary integral sep-arated PID,the system input approximately ahead of the 500ms to eliminate the static difference,the system re-sponse in advance 400ms to eliminate the static difference. When the robot rotates,the robot can avoid the rota-tion,reduce the wear and tear of the wheel,and can rotate to the target accurately and quickly.