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在连续型PID控制原理基础上,推导增量式PID控制算法,将其应用于AGV移动机器人的循迹控制中,并通过Z-N临界比例法对其进行参数整定,以获得较好的控制效果。
Based on the principle of continuous PID control, the incremental PID control algorithm is deduced and applied to the tracking control of AGV mobile robot. The Z-N critical proportional method is used to tune the parameters to obtain a better control effect.