摘要: 本课题基于自主搭建的履带式移动机器人，利用PID迭代学习控制算法实现移动机器人路径跟踪控制。该算法结合传统PID控制和迭代学习控制的优点，使移动机器人能够根据位置和速度偏差的大小及方向，实时控制机器人在运动过程中的变化趋势，以获得合适的学习增益矩阵，达到更好的控制效果。33042
课题详细介绍了PID迭代学习控制算法在履带式移动机器人路径跟踪控制过程中的应用。首先，本课题对履带式移动机器人进行运动学建模，得出相应的数学模型及其运动学特征方程。然后，根据传统的PID控制和迭代学习控制设计一个单输入单输出的智能控制器，其中两个履带运动速度差为输入，驱动轮电机转速为输出，而被控对象仍是整个移动机器人。利用MATLAB软件做一个路径跟踪系统的模型仿真，得到相应的仿真图形。最后，根据仿真算法，在实际搭建的平台上实现移动机器人的路径跟踪控制。研究表明，PID迭代学习控制可以使得履带式移动机器人在路径跟踪控制过程中有更好的稳定性、准确性和快速性。
毕业论文关键词: 履带式移动机器人；PID控制；迭代学习控制；MATLAB仿真
Tracking control of intelligent mobile robot based on embedded environment
Abstract: The study is based on the tracked mobile robot, which is built in the laboratory. Mobile robot path tracking control is achieved through PID iterative learning control algorithm. The algorithm combines the advantages of traditional PID control and iterative learning control, which can control the moving tends of the mobile robot real-time according to the system deviation and the magnitude and direction of speed deviation. Appropriate learning gain matrix can be get to achieve better control effect.
The paper introduces how to apply PID iterative learning control algorithm to tracked mobile robot path tracking control in details. First of all, the kinematic model for mobile robot is built to obtain corresponding mathematical models and kinematics characteristic equation. Then, a single-input single-output controller is designed according to PID iterative learning control algorithm. The velocity difference of two track is set as input, while the motor speed of drive wheel is output. And the controlled object is still the whole mobile robot. A simulation result of path tracking system will be get by Matlab. Finally, path planning and track control of mobile robot is achieved in the actual platform. Studies have shown that, tracked mobile robot has better stability, accuracy and speediness in path tracking control process by PID iterative learning control.
Key words: tracked mobile robot, PID control, iterative learning control, Matlab simulation
目录
1.    绪论    1
1.1    课题目的和意义    1
1.2    国内外研究现状与研究方向    1
1.2.1    国内外研究现状简介    1
1.2.2    研究方向    2
1.3    课题主要工作    2
2.    履带式移动机器人硬件结构    4
2.1    机器人结构    4
2.2    超声波传感器系统    4
2.2.1    超声波传感器简介    4
2.2.2    超声波测距原理    5
2.2.3    超声波测距在移动机器人上的应用    7
2.3    步进电机    8
2.4    增量式光电编码器    9
2.5    直流电机转速检测    9
2.6    直流电机    10
2.7    STM32开发板    11 MATLAB嵌入式环境的智能移动机器人跟踪控制:http://www.youerw.com/zidonghua/lunwen_29898.html