基于改进型PID控制算法在小型仓储物流智能机器人中的应用研究

摘要

基于PID(Proportional-Intgral-Differential)控制算法,并对其比例环节、积分环节和微分环节控制参数进行分析,通过对小型仓储物流智能机器人运动控制系统研究分析,提出一种改进型PID控制算法,它既保持了原来PID控制算法的优点,又简化了对比例环节、积分环节和微分环节控制参数进行繁杂的调整过程,同时利用MATLAB对改进型的算法进行仿真与验证,实验结果表明效果较理想.%On the basis of the traditional PID (proportional-integral-differential) control algorithm, the paper analyzes the control parameters of its proportional, integral and differential processes and, in connection with a study on the motion control system of the small-sized warehouse intelligent robots, proposes an improved version of the algorithm which retains its strengths while simplifying the complicated steps for adjusting the control parameters in the proportional, integral and differential processes. Finally, the improved algorithm is simulated and tested using MATLAB, with result indicating rather ideal performance.