基于模糊PID控制的智能轮椅避障设计

王宇; 王大志; 周玉凤

doi:10.12299/jsues.23-0216

基于模糊PID控制的智能轮椅避障设计

doi: 10.12299/jsues.23-0216

王宇^1,,
王大志²,
周玉凤^1, ,

1.
上海工程技术大学机械与汽车工程学院, 上海201620
2.
中国科学院大学中国科学院光电技术研究所,四川成都610209

详细信息

作者简介:
王宇：王　宇（1999−），男，硕士生，研究方向为机械系统控制与建模仿真。E-mail：w1029016@163.com

通讯作者:
周玉凤（1966−），女，副教授，硕士，研究方向为机械工程及自动化。E-mail：zhouyufeng0318@163.com

中图分类号: TP24
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- 文章访问数: 112
- HTML全文浏览量: 30
- PDF下载量: 6
- 被引次数: 0
出版历程
- 收稿日期: 2023-10-12
- 刊出日期: 2024-09-30

Intelligent wheelchair obstacle avoidance design based on fuzzy PID control

WANG Yu^1
,,
WANG Dazhi²,
ZHOU Yufeng^{1
, ,}

1.
School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
2.
Institute of Optics and Electronics, Chinese Academy of Sciences, University of Chinese Academy of Sciences, Chengdu 610209, China

摘要

摘要: 为提高智能轮椅的避障精度，提出一种基于模糊PID控制的智能轮椅控制算法。建立智能轮椅的运动学模型，在传统PID控制方法的基础上，设计基于模糊PID控制的智能轮椅控制系统。使用Matlab构建仿真试验，在Simulink中设计搭建模糊控制器，并对传统PID控制和模糊PID控制的避障性能进行仿真。试验结果表明：该控制算法可实现智能轮椅避障误差的优化，与传统PID控制算法相比较，具有超调量小，响应快、精确度更高的优点。
- 智能轮椅 /
- 模糊PID控制 /
- 避障
Abstract: In order to improve obstacle avoidance accuracy of intelligent wheelchair, a control algorithm of intelligent wheelchair based on fuzzy PID control was proposed. The kinematics model of intelligent wheelchair was established, and the intelligent wheelchair control system based on Fuzzy PID control was designed on the basis of traditional PID control method. Matlab was used to construct simulation tests, the fuzzy controller was designed and constructed in Simulink, and the obstacle avoidance performances of traditional and fuzzy PID control were simulated. The experimental results show that the control algorithm can optimize the obstacle avoidance error of intelligent wheelchair, and it has advantages of small overshoot, fast response, and higher accuracy compared with the traditional PID control algorithm.
- intelligent wheelchair /
- fuzzy PID control /
- obstacle avoidance

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图 1 智能轮椅实物图

Figure 1. Physical view of intelligent wheelchair

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图 2 智能轮椅系统框架图

Figure 2. Framework diagram of intelligent wheelchair system

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图 3 智能轮椅的运动模型

Figure 3. Motion model of intelligent wheelchair

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图 4 模糊PID控制框图

Figure 4. Block diagram of Fuzzy PID controller

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图 5 E与EC隶属度函数曲线

Figure 5. Affiliation function curve of E and EC

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图 6 K_P、K_I、K_D隶属度函数曲线

Figure 6. Affiliation function curve of K_P、K_I、K_D

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图 7 输出曲面

Figure 7. Output surface

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图 8 避障程序流程图

Figure 8. Obstacle avoidance program flowchart

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图 9 传统PID与模糊PID的阶跃响应

Figure 9. Step response of traditional PID and fuzzy PID

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图 10 轮椅避障仿真轨迹图

Figure 10. Simulation trajectory chart for wheelchair obstacle avoidance

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图 11 传统PID与模糊PID控制输出误差曲线

Figure 11. Output error curve of traditional PID and fuzzy PID control

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图 12 避障运动轨迹

Figure 12. Obstacle avoidance trajectory

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表 1 模糊PID参数量化表

Table 1. Quantization table of fuzzy PID parameters

变量	E	EC	K_P	K_I	K_D
模糊论域	[−6 6]	[−6 6]	[−6 6]	[−6 6]	[−6 6]
实际论域	[−50 50]	[−100 100]	[−5 5]	[−1 1]	[−15 15]
量化因子	0.12	0.06	—	—	—
比例因子	—	—	0.833	0.167	2.5

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表 2 模糊控制规则表

Table 2. Fuzzy control rule table

输入变量	NB	NM	NS	ZO	PS	PM	PB
NB	PB/NB/PS	PB/NB/PS	PM/NB/ZO	PM/NM/ZO	PS/NM/ZO	PS/ZO/PB	ZO/ZO/PB
NM	PB/NB/NS	PB/NB/NS	PM/NM/NS	PM/NM/NS	PS/NS/ZO	ZO/ZO/NS	ZO/ZO/PM
NS	PM/NM/NB	PM/NM/NB	PM/NS/NM	PS/NS/NS	ZO/ZO/ZO	NS/PS/PS	NS/PS/PM
ZO	PM/NM/NB	PS/NS/NM	PS/NS/NM	ZO/ZO/NS	NS/PS/ZO	NM/PS/PS	NM/PM/PM
PS	PS/NS/NB	ZO/ZO/NM	ZO/ZO/NS	NS/PS/NS	NS/PS/ZO	NM/PM/PS	NM/PM/PS
PM	ZO/ZO/NM	ZO/ZO/NS	NS/PS/NS	NM/PM/NS	NM/PM/ZO	NM/PB/PS	NB/PB/PS
PB	ZO/ZO/PS	NS/ZO/ZO	NS/PS/ZO	NM/PM/ZO	NM/PB/ZO	NB/PB/PB	NB/PB/PB

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表 3 对比试验测试结果

Table 3. Comparison of experimental test results

避障算法	路径长度/m	耗时/s	最大误差/m
传统PID	8.5	21.35	0.48
模糊PID	5.7	14.10	0.15

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