| 一种压电驱动微小型机器人循迹的模糊PID控制研究 |
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| 引用本文：袁玲，梁睿，杜启亮.一种压电驱动微小型机器人循迹的模糊PID控制研究[J].计算技术与自动化,2012,(1):1-6 |
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| 中文摘要:微小型机器人在国防军事、生物医疗、航空航天、工业应用等领域有着广阔的应用前景。本文对一种压电驱动的微小型移动机器人的运动控制展开研究，介绍在压电陶瓷在机器人运动过程中保持平行的假设条件下所得的运动学模型，进而设计模糊PID控制器对其进行循迹控制。MATLAB仿真实验结果显示出良好的跟踪控制效果机器人在模糊PID控制中的运动情况。 |
| 中文关键词:微型机器人 模糊PID MATLAB仿真 |
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| MATLAB Simulation of a Piezoelectric-driven Miniature Robot Using Fuzzy PID Controller to Trace |
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| Abstract:It has been shown that miniature robots has a promising future in national defense and military, biomedicine, aerospace, industrial applications and so on. This text which researches into a piezoelectric-driven miniature robot movement, introduces a motion model of that robot with the assumed condition of keeping balance while moving, then designs the fuzzy PID controller to trace the route. According to the MATLAB simulation experiment, we can observe the fine locomotion status and tracing effect of the robot using fuzzy PID controller. |
| keywords:miniature robot fuzzy PID MATLAB simulation |
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