| 引用本文: | 王 栋,张 军,齐 潘,邹看看.消毒机器人直流电机转速模糊 PID 控制研究(J/M/D/N,J:杂志，M：书，D：论文，N：报纸).期刊名称,2025，42（6）：9-16 |
| CHEN X. Adap tive slidingmode contr ol for discrete2ti me multi2inputmulti2 out put systems[ J ]. Aut omatica, 2006, 42(6): 4272-435 |
|
| 摘要: |
| :目的 针对传统 PID(Proportional-Integral-Derivative)控制的消毒机器人,在环境变化或有负载干扰情况下,
存在直流电机转速精准度不足的问题,提出一种模糊 PID 控制方法,旨在提高消毒机器人电机响应速度和电机转
速精准度。 方法 基于消毒机器人模型,根据运动学原理求解其电机参数,确定直流电机模型;根据直流电机模型采
用基尔霍夫定律计算出电机的传递函数,利用 MATLAB / Simulink 搭建传统 PID 控制系统,通过仿真得到转速结果
将其与电机额定转速相比以验证传递函数的正确性,同时运用模糊控制理论结合电机传递函数搭建模糊 PID 控制
系统;在 MATLAB / Simulink 中将传统 PID 控制系统与模糊 PID 控制系统对电机转速控制的影响进行对比仿真实
验。 结果 实验结果显示:当消毒机器人电机有负载干扰时,模糊 PID 控制系统相比传统 PID 控制系统在电机响应
速度上提高了 3 s,在电机精准度方面提高了 8%;消毒机器人模糊 PID 控制系统能够有效提高电机响应速度,提升
电机转速精准度。 结论 在复杂情况下,模糊 PID 控制系统能够有效提高直流电机响应速度和电机转速精准度,模
糊控制方法对电机转速的研究提供了参考,为消毒机器人电机控制研究提供了思路,在消毒机器人电机控制领域
具有广泛的应用前景。 |
| 关键词: 消毒机器人 直流电机 传递函数 PID 模糊 PID 控制 |
| DOI： |
| 分类号: |
| 基金项目: |
|
| Research on Fuzzy PID Control of DC Motor Speed in Disinfection Robots |
|
WANG Dong ZHANG Jun QI Pan ZOU Kankan
|
|
School of Artificial Intelligence Anhui University of Science and Technology Huainan 232001 Anhui China
|
| Abstract: |
| Objective In disinfection robots employing traditional PID proportional-integral-derivative control the
accuracy of DC motor speed is often insufficient when the environment changes or there is load interference. To address
this issue a fuzzy PID control approach is proposed to enhance the response speed and accuracy of the motor speed in
disinfection robots. Methods Starting from the disinfection robot model the parameters of the robot?? s motor are derived
based on kinematic principles thereby establishing the DC motor model. Using Kirchhoff?? s law the transfer function of
the motor is calculated according to the DC motor model. A traditional PID control system is constructed in MATLAB /
Simulink and the motor speed is simulated. The correctness of the transfer function is verified by comparing the simulated
speed with the rated speed of the motor. Meanwhile a fuzzy PID control system is developed by integrating fuzzy control
theory with the motor transfer function. A comparative simulation is conducted in MATLAB / Simulink to evaluate the
effects of the traditional PID and fuzzy PID control systems on motor speed control. Results Experimental results indicate
that under load interference the response speed of the motor in the fuzzy PID control system is 3 s quicker than that in the
traditional PID control system and the motor speed accuracy is improved by 8%. The fuzzy PID control system indisinfection robots can effectively boost the motor?? s response speed and enhance its speed accuracy. Conclusion In
complex scenarios the fuzzy PID control system can significantly improve the response speed and accuracy of DC motors.
The fuzzy control method serves as a valuable reference for motor speed research and provides insights for the development
of motor control in disinfection robots. It holds great promise for wide-ranging applications in the field of disinfection robot
motor control. |
| Key words: disinfection robot DC motor transfer function PID fuzzy PID control |
