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Football robot bottom control method based on fuzzy control

A football robot, fuzzy control technology, applied in attitude control, adaptive control, general control system, etc., can solve the problems of inaccurate image recognition, inability to achieve control effect, incomplete symmetry, etc., to achieve easy computer control, Improve the reaction speed and control accuracy, and the effect of simple control rules

Inactive Publication Date: 2015-11-25
黄红林
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AI Technical Summary

Problems solved by technology

The shortcomings of traditional PID in motion control: under the influence of the incomplete symmetry of the left and right wheel motors of the control robot, the inaccuracy of image recognition, the lag of image acquisition, and various interference factors on the field, the movement of the robot has an extraordinary Linear, large interference, time-varying and uncertain characteristics, the traditional PID controller has been unable to achieve a good control effect

Method used

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  • Football robot bottom control method based on fuzzy control
  • Football robot bottom control method based on fuzzy control
  • Football robot bottom control method based on fuzzy control

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Experimental program
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Embodiment Construction

[0022] refer to figure 1 , figure 2 and image 3 , the present invention, concrete steps include:

[0023] Step 1. Obtain the real-time value of the current position and speed of the soccer robot through the camera, and compare it with the set value of the position and angle to calculate the deviation e and the rate of change ec of the deviation;

[0024] Step 2, taking the deviation e and the rate of change ec of the deviation as the input of the fuzzy PD controller, and obtaining the correction values ​​of the two parameters of PD through fuzzification, fuzzy reasoning, defuzzification, etc.;

[0025] Step 3, use the corrected controller output as the input of the DC motor, thereby adjusting the position and angle of the soccer robot to achieve the purpose of control;

[0026] Step 4: Measure the transmission position and angle again and perform a second correction.

[0027] The position and angle deviation e=the position and angle setting value yo-t measured value y1; ...

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Abstract

The invention discloses a football robot bottom control method based on a fuzzy control, comprising steps of (a) given value comparison, (b) fuzzy processing, (c) parameter correction, and (d) real time optimization. The parameter correction comprises the step of taking a corrected controller output as an input of a DC motor so as to adjust the position and the angle of the football robot to achieve controlling. The real time optimization comprises the step of re-measuring a transmission potion and an angle to perform second correction. By combining the fuzzy control and regular PID control, the invention compensates the defects of the fuzzy control and the regular PID, which is high in control accuracy, good in control effect, simple in controlling rule, can perform online real-time PID parameter adjustment, greatly reduces the variance between the position and the angle, effectively improves the reaction speed and the position control precision of the process system, and is easy to realize the control of the computer.

Description

【Technical field】 [0001] The invention relates to the technical field of soccer robots, in particular to the technical field of the fuzzy control-based bottom layer control method of soccer robots. 【Background technique】 [0002] Soccer robot is a comprehensive system integrating environment perception, dynamic decision-making and behavior control. As can be seen from the results of the simulation in the previous section, in the actual game of the soccer robot, the underlying motion control is the most basic and very important part, enabling it to run from the location to the destination accurately and quickly. At present, the more commonly used control methods are mainly PID control method and fuzzy logic control method. The shortcomings of traditional PID in motion control: under the influence of the incomplete symmetry of the left and right wheel motors of the control robot, the inaccuracy of image recognition, the lag of image acquisition, and various interference facto...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02G05D1/02G05D1/08
Inventor 杨海霞黄红林
Owner 黄红林
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