机器人PID控制算法研究与实现

文中描述了如何使用PID控制器实现对巡线机器人的行走控制。针对依靠双轮直流电机驱动的机器人平台，依靠引导线进行行走的特点，设计了基于PID控制器的行走驱动算法，实现对机器人行走的控制。在算法中对比、整合PID控制器中三个参数，使其在控制过程中协调发挥作用，实现在离散状态下机器人行走巡线的精确控制。该算法多次应用在全国职业技能大赛机器人应用项目中，通过实践表明该算法具有适应性强、控制精度高、调整误差小的优点。

Research and Implementation of Robot PID Control Algorithm

Describe how to create a PID controller for robot to do line following in this paper. Aiming at the platform of double DC motor driven robot,relying on the characteristics that the robot works on to do line following,design the walk driving algorithm based on PID controller for the robot,realizing the walking control for robot. Comparing and integrating the three parameters in the PID controller for the control process,make its coordination in the process of control,it can precisely drive for robot walking in the discrete state. The algo-rithm has been applied many times in the national vocational skills competition of robot application project,the practice shows that the al-gorithm has the advantage of strong adaptability,high precision and low error.