摘要：移动机器人技术是一种多学科且相互关联并集综合高新技术的新技术，是机器人研究开发领域的一个重要分支。随着移动机器人技术近些年的高速发展，与其相关的电子计算机技术和微电子、信息传输以及智能控制等技术也在逐渐成熟和发展，这对移动机器人技术的探索研究也有着潜移默化的影响。与此同时，随着控制技术的不断发展，自动控制领域中的各种技术也得到了创新与发展，其中PID控制系统是一种具有简单性而且固定性高的系统，在较大的范围内操作能文持较好的鲁棒性，因此在工业控制实用领域中得到了较大范围的应用。27793
本课题首先在移动机器人的硬件平台上针对直流电机被控对象设计了闭环速度PID控制器，利用C语言编写了PID速度控制程序，使得机器人按照一定的速度行走。其次针对移动机器人平台设计了位置闭环控制器，给定位置与编码器实测的位置相减后得到偏差作为控制器的输入，控制器输出驱动电机，对应不同的电机速度，驱动机器人行走不同的位移。最后本课题通过PID控制方式设计了移动机器人走一个正方形的算法及程序实现。课题成功完成了移动机器人位置控制系统设计，获得了良好的控制效果。
毕业论文关键词： 移动机器人；PID速度控系统；PID速度控制器；PID位置控制器；算法
PID position control system for mobile robot design
Abstract: Mobile Robotics is a multidisciplinary and comprehensive set of interrelated high-tech new technology is an important branch of robotics research and development field. With the rapid development of mobile robot technology in recent years, associated with computer technology and microelectronics, information transmission and intelligent control technology is gradually mature and the rapid development of this exploration of the mobile robot technology also has a subtle influence . Meanwhile, with the continuous development of control technology, automatic control field in a variety of technology has been innovation and development, including PID control system is a kind of simplicity and persistent high system in a wide range of operations to be maintain robust, so it has been a wide range of practical applications in the field of industrial control.
The first issue on the mobile robot hardware platform designed for DC motor closed-loop speed controlled object PID controller using C language written PID speed control procedures that allow the robot to walk in accordance with a certain speed. Secondly, for the mobile robot platform designed closed-loop controller position, given the position after position encoder subtracting the measured deviation as input to the controller, the controller output drive motor, corresponding to different motor speeds, driving the robot to walk a different displacement. Finally, this study was designed by the PID control algorithm and program mobile robots to go to achieve a square. The successful completion of the subject mobile robot position control system design access to good control effect.
Key Words：Mobile robots; PID speed control system; PID position control system; algorithm
目录
1.绪论    1
1.1 课题研究的意义    1
1.2国内外研究现状与水平    2
1.3本课题主要设计工作    3
2. 移动机器人设备硬件    5
2.1 主要执行硬件简介    5
2.1.1直流电机部分    6
2.1.2编码器部分    8
3. PID控制系统算法设计与实现    10
3.1 基本路径规划算法简介    10
3.2 基于PID控制系统的路径规划算法    11
3.2.1 PID控制原理    11
3.2.2 PID控制的算法简介    12 移动机器人的PID位置控制系统设计+源程序:http://www.751com.cn/zidonghua/lunwen_22411.html