Motor Control and Simulation of Coal Mine Detection Robots Based on Fuzzy-PID

Abstract:

To achieve an agile and accurate motor control performance on coal mine detection robots TUT-CMDR, Fuzzy-PID control and its model building method in the Simulink environment are explored. The transfer function model of the TUT-CMDR motor transmission system is established and M-files used to ascertain the gain of the PID control are compiled. The final value of the step block is configured to a variable and parameterized quantization factors and scaling factors are proposed to solve the problem of different basic universe for different final value. Some improvement is also made on the existing fuzzy control rules. Finally, the designed controller is proved to show a better control performance.

• Periodical: Applied Mechanics and Materials (Volumes 121-126)
• Pages: 3356-3360
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.121-126.3356
• Online since: October 2011
• Authors: Zhi Gang Niu, Xiao Wang
• Keywords: Coal Mine Detection Robots, Fuzzy Control Rules, Fuzzy PID, Motor Control, Parameterized Factors

References

[1] L. Chen, K. Wang: Simulink Simulation of DC Motor Based on Fuzzy Control, Information on http\www. Paper. edu. Cn, 2010, in Chinese.

[2] J. Gao, X. H. Huang, G. Peng, Q. Y. Yang and T. Yang: Motion Control of Mobile Robots Based on Fuzzy-PID , Control Engineering of China, vol. 11, No. 6 (2004), pp.525-528, in Chinese.

[3] MT-FR Users manual (Shanghai Ingenious Automation Technology Co. Ltd, China 2010), in Chinese.

[4] Y. L. Xiong: Fundamentals of Robot Techniques (Huazhong University of Science and Technology Press, Wuhan China 2007), in Chinese.

[5] T. Liu: The Research and Implementation of Motion Control of Wheeled Mobile Robot Based on Fuzzy Logic (Guangdong University of Technology, Guangdong China 2010), in Chinese.

[6] Z. B. Zhang, H. F. Zhou: Fuzzy System DSP-Based for DC Motor Speed Control, Modern Electronics Technique, vol. 31, No. 10 (2008), pp.57-60, in Chinese.