CN105093923A - Football robot bottom control method based on fuzzy control - Google Patents
Football robot bottom control method based on fuzzy control Download PDFInfo
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- CN105093923A CN105093923A CN201510355372.0A CN201510355372A CN105093923A CN 105093923 A CN105093923 A CN 105093923A CN 201510355372 A CN201510355372 A CN 201510355372A CN 105093923 A CN105093923 A CN 105093923A
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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]
The present invention relates to Soccer robot technical field, particularly based on the technical field of the Soccer robot bottom control method of fuzzy control.
[background technology]
Soccer robot is a system ensemble integrating environment sensing, dynamic decision and Behavior-Based control.Just as the result of a upper joint emulation, in the real racetrack of Soccer robot, basic motion control is it the most substantially, is also a very important ring, enables accurately and realize location rapidly to go to destination.At present, comparatively conventional control mode mainly pid control law and fuzzy logic control method.The shortcoming that traditional PI D exists in motion control: under the impact of each disturbing factor on the delayed and field of the non complete symmetry of control left and right wheels motor, image recognition inexactness and image acquisition etc., make the motion of robot have non-linear, interference is large, time becomes and the characteristic such as uncertain, can not reach good control effects by traditional PID controller.
Fuzzy control utilizes fuzzy set theory, the control strategy of human expert's natural language description is converted into the algorithmic language that computing machine can accept, thus the intelligence of simulating human, realize effective control of production run, be very suitable for controlling complicated, non-linear, large time delay and the serious controlled device of uncertainty.The fuzzy PD controller is on the basis of common PD controller, adds a fuzzy control link and forms, and according to real time data, on-line tuning two parameters, thus reach good control effects.
[summary of the invention]
Object of the present invention solves the problems of the prior art exactly, a kind of method of the Soccer robot bottom control based on fuzzy control is proposed, obviously can reduce the variance of its motion control middle distance and angle, effectively improve the control accuracy of procedures system, and be easy to realize computing machine control.
For achieving the above object, the present invention proposes a kind of method of the Soccer robot bottom control based on fuzzy control, described control method utilizes the form of Fuzzy PD Control to carry out tracing control to Soccer robot basic motion process, and concrete steps comprise:
A () set-point compares: the Position And Velocity instantaneous value being obtained current Soccer robot by video camera, compares the rate of change ec of calculation deviation e and deviation with position and angle setpoint;
B () deviation ratio is comparatively: when deviation is greater than threshold value e
0time, adopt pure ratio to control; When deviation is less than or equal to threshold value, adopt fuzzy control;
(c) Fuzzy Processing: using the input of the rate of change ec of deviation e and deviation as fuzzy controller, obtained the modified value of PD two parameters by obfuscation, fuzzy reasoning, de-fuzzy etc.;
D () parameters revision: revised controller is exported the input as direct current generator, thus the position of adjustment Soccer robot and angle, reach the object of control;
(e) real-time optimization: again measure delivering position and angle and carry out second time correction.
As preferably, described position and angular deviation e=setting value yo-t moment measured value y1; Described position and angular deviation derivative ec=(t+T moment measured value y2-t moment measured value y1)/sampling period T.
As preferably, described the fuzzy PD controller is that two parameter P of PID controller, correction △ Kp, the △ Kd of D are as output using position and angular deviation e and deviation derivative ec as input.
As preferably, described controller, for reducing fuzzy rule and calculated amount, meets the realtime control of Soccer robot, adopts the method that threshold segmentation controls.
As preferably, the fuzzification process of described the fuzzy PD controller be fetch bit put with angular deviation e and deviation derivative ec and exports △ Kp, △ Kd fuzzy subset for NB, NS, ZO, PS, PB}, in subset, element represents negative large respectively, bears little, zero, just little, honest.
As preferably, the fuzzy reasoning process of described the fuzzy PD controller, for setting up fuzzy control rule table, obtains position and angular deviation e and deviation derivative ec and exports the membership function relation of △ Kp, △ Kd.
As preferably, described the fuzzy PD controller considers the requirement of Soccer robot real-time performance, adopts the form of two-output impulse generator, i.e. Fuzzy PD Control.
Beneficial effect of the present invention: the combination that the present invention is controlled by fuzzy control and conventional PD, compensate for the defect that both are respective, consider the requirement of Soccer robot real-time performance, adopt the form of two-output impulse generator, i.e. Fuzzy PD Control, fuzzy control is very suitable for controlling complicated, non-linear, large time delay and the serious controlled device of uncertainty, and has stronger robustness, does not need to set up accurate mathematical model; Fuzzy PD Control Soccer robot basic motion is used to control, control accuracy is high, control effects is good, control law is simple, online PD parameter tuning in real time can be carried out, obviously can reduce the variance of position and angle, effectively improve reaction velocity and the control position precision of procedures system, and be easy to realize computing machine control.
Feature of the present invention and advantage will be described in detail by reference to the accompanying drawings by embodiment.
[accompanying drawing explanation]
Fig. 1 is the membership function statement of the Soccer robot basic motion control method of a kind of Fuzzy PD Control of the present invention;
Fig. 2 is the control block diagram of the Soccer robot basic motion control method of a kind of Fuzzy PD Control of the present invention;
Fig. 3 is the control flow chart of the Soccer robot basic motion control method of a kind of Fuzzy PD Control of the present invention.
[embodiment]
Consult Fig. 1, Fig. 2 and Fig. 3, the present invention, concrete steps comprise:
Step one, obtained the Position And Velocity instantaneous value of current Soccer robot by video camera, compare the rate of change ec of calculation deviation e and deviation with position and angle setpoint;
Step 2, using the input of the rate of change ec of deviation e and deviation as the fuzzy PD controller, obtained the modified value of PD two parameters by obfuscation, fuzzy reasoning, de-fuzzy etc.;
Step 3, revised controller is exported the input as direct current generator, thus the position of adjustment Soccer robot and angle, reach the object of control;
Step 4, again measure delivering position and angle and carry out second time correction.
Described position and angular deviation e=position and angle setpoint yo-t moment measured value y1; Described position and angular deviation derivative ec=(t+T moment measured value y2-t moment measured value y1)/sampling period T.Described fuzzy controller is that two parameter P of PD controller, correction △ Kp, the △ Kd of D are as output using position and angular deviation e and position and angular deviation derivative ec as input.The fuzzification process of described the fuzzy PD controller be fetch bit put with angular deviation e and position and angular deviation derivative ec and exports △ Kp, △ Kd fuzzy subset for NB, NS, ZO, PS, PB}, in subset, element represents negative large respectively, bears little, zero, just little, honest.The fuzzy reasoning process of described the fuzzy PD controller, for setting up fuzzy control rule table, obtains position and angular deviation e and position and angular deviation derivative ec and exports the membership function relation of △ Kp, △ Ki, △ Kd.
The course of work of the present invention:
The Soccer robot basic motion control method of a kind of Fuzzy PD Control of the present invention in the course of the work, carried out position and the Angle ambiguity of Soccer robot basic motion by method fuzzy control and conventional PD being controlled to combine, determine that the membership function of position and angular deviation e and deviation derivative value ec can obtain the control law of output variable △ Kp, △ Kd according to pid parameter Adjustment principle.Subordinate list is as follows:
The combination that the present invention is controlled by fuzzy control and conventional PD, compensate for the defect that both are respective, consider the requirement of Soccer robot real-time performance, adopt the form of two-output impulse generator, i.e. Fuzzy PD Control, fuzzy control is very suitable for controlling complicated, non-linear, large time delay and the serious controlled device of uncertainty, and has stronger robustness, does not need to set up accurate mathematical model; Fuzzy PD Control Soccer robot basic motion is used to control, control accuracy is high, control effects is good, control law is simple, online PD parameter tuning in real time can be carried out, obviously can reduce position and angle overshoot, effectively improve reaction velocity and the control position precision of procedures system, and be easy to realize computing machine control.
Above-described embodiment is to explanation of the present invention, is not limitation of the invention, anyly all belongs to protection scope of the present invention to the scheme after simple transformation of the present invention.
Claims (7)
1. based on the method that the Soccer robot basic motion of fuzzy control controls, it is characterized in that: the form that described control method utilizes fuzzy control and PD to control to combine carries out tracing control to Soccer robot basic motion, and concrete steps comprise:
A () set-point compares: the Position And Velocity instantaneous value being obtained current Soccer robot by video camera, compares the rate of change ec of calculation deviation e and deviation with position and angle setpoint;
B () deviation ratio is comparatively: when deviation is greater than threshold value e
0time, adopt pure ratio to control; When deviation is less than or equal to threshold value, adopt fuzzy control;
(c) Fuzzy Processing: using the input of the rate of change ec of deviation e and deviation as fuzzy controller, obtained the modified value of PD two parameters by obfuscation, fuzzy reasoning, de-fuzzy etc.;
D () parameters revision: revised controller is exported the input as direct current generator, thus the position of adjustment Soccer robot and angle, reach the object of control;
(e) real-time optimization: again measure delivering position and angle and carry out second time correction.
2. a kind of method that controls of Soccer robot basic motion based on fuzzy control as claimed in claim 1, is characterized in that: in step (a), described position and angular deviation e=setting value yo-t moment measured value y1; Described position and angular deviation derivative ec=(t+T moment measured value y2-t moment measured value y1)/sampling period T.
3. a kind of method that controls of Soccer robot basic motion based on fuzzy control as claimed in claim 1, it is characterized in that: in step (b), for reducing fuzzy rule and calculated amount, meeting the realtime control of Soccer robot, adopting the method that threshold segmentation controls.
4. a kind of method that controls of Soccer robot basic motion based on fuzzy control as claimed in claim 1, it is characterized in that: in step (c), described the fuzzy PD controller is that two parameter P of PD controller, correction △ Kp, the △ Kd of D are as output using position and angular deviation e and deviation derivative ec as input.
5. a kind of method that controls of Soccer robot basic motion based on fuzzy control as claimed in claim 1, it is characterized in that: in step (c), the fuzzification process of described the fuzzy PD controller be fetch bit put with angular deviation e and deviation derivative ec and export △ Kp, △ Kd fuzzy subset is { NB, NS, ZO, PS, PB}, in subset, element represents negative large respectively, negative little, zero, just little, honest.
6. a kind of method that controls of Soccer robot basic motion based on fuzzy control as claimed in claim 1, it is characterized in that: in step (c), consider the requirement of Soccer robot real-time performance, adopt the form of two-output impulse generator, i.e. Fuzzy PD Control.
7. a kind of method that controls of Soccer robot basic motion based on fuzzy control as claimed in claim 1, it is characterized in that: in step (d), the fuzzy reasoning process of described the fuzzy PD controller, for setting up fuzzy control rule table, obtains position and angular deviation e and deviation derivative ec and exports the membership function relation of △ Kp, △ Kd.
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| CN105955015A (en) * | 2016-05-17 | 2016-09-21 | 成都奥特为科技有限公司 | Fuzzy control method used for exoskeleton system |
| CN107612433A (en) * | 2017-11-08 | 2018-01-19 | 上海航天控制技术研究所 | Brushless electric machine list closed loop control method based on modified velocity close-loop control algorithm |
| CN108052002A (en) * | 2017-11-21 | 2018-05-18 | 杭州电子科技大学 | A kind of intelligent automobile automatic tracking method of improved fuzzy |
| CN110308647A (en) * | 2019-06-14 | 2019-10-08 | 南京理工大学 | The unmanned plane three-stage fuzzy PID control method of the input item containing error intergal |
| CN113917917A (en) * | 2021-09-24 | 2022-01-11 | 四川启睿克科技有限公司 | Obstacle avoidance method and device for indoor bionic multi-legged robot and computer readable medium |
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| CN113917917A (en) * | 2021-09-24 | 2022-01-11 | 四川启睿克科技有限公司 | Obstacle avoidance method and device for indoor bionic multi-legged robot and computer readable medium |
| CN113917917B (en) * | 2021-09-24 | 2023-09-15 | 四川启睿克科技有限公司 | Obstacle avoidance method and device for indoor bionic multi-legged robot and computer readable medium |
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Application publication date: 20151125 |