Application of Fuzzy PID in Wheeled Robot

摘要

Abstract At this stage, wheeled robots are widely used in various fields. Usually, the gimbal is mounted above the wheeled robot as a platform for carrying other functional modules, and for the normal working environment of the module. We will use the traditional PID control algorithm to keep the gimbal relatively stable. However, in the face of complex terrain, the gimbal will be subject to huge disturbances from the chassis. The traditional PID algorithm has low robustness and cannot cope with this situation. In this paper, a fuzzy controller for the self-stabilization of the gimbal is added to the wheeled robot designed in the RoboMaster competition to maintain the stability of the gimbal under the condition of an uneven road to ensure that the gimbal has strong robustness. This robot uses STM32F427IH, the main control chip, and JetsonNanoA02, the host computer, with the FreeRTOS real-time operating system to complete the motion control of the robot.