基于模糊PID控制的轮式移动机器人系统性能研究
Research on Wheeled Mobile Robots System Performance Based on Fuzzy PID Control

随着科技的高速发展，麦克纳姆轮式移动机器人在众多领域得到了广泛应用。运动控制系统精度是衡量轮式机器人性能的重要指标之一。本文聚焦于使用模糊PID控制算法优化两轮差分驱动的非线性控制系统。通过对语言变量的确定、隶属度函数的选取、控制规则的建立和模糊推理，建立了基本的模糊控制器。同时，运用Simulink模块搭建模糊控制系统。搭建试验台并结合多种不同工况进行实验验证，记录数据并结合RMSE分析此模糊控制系统的性能，进一步分析误差产生的原因。通过试验测试数据表明，麦克纳姆轮式机器人使用模糊PID控制相较于传统PID控制精度更高。
With the rapid development of technology, Mecanum-wheeled mobile robots have been widely applied in various fields. The precision of the motion control system is one of the important indicators for measuring the performance of wheeled robots. This paper focuses on optimizing the nonlinear control system of a¹ two-wheel differential-drive using the fuzzy PID control algorithm. By determining the linguistic variables, selecting the membership functions, establishing the control rules, and conducting fuzzy reasoning, a basic fuzzy controller is established. Meanwhile, the fuzzy control system is built using Simulink modules. An experimental platform is set up and experiments are conducted under various working conditions to verify the system. Data are recorded and the performance of the fuzzy control system is analyzed using RMSE, while the causes of errors are further investigated. The experimental test data shows that the Mecanum-wheeled robot using fuzzy PID control achieves higher precision compared to traditional PID control.