Fuzzy PID Control Algorithm Research Of The MicroMouse

Micro mouse, which contains some technology such as motor control, infrared sensing and intelligent algorithms, is an intelligent autonomous mobile robot. When it locates in the maze, searching the paths, going forward, memory the maze data, calculating the shortest path to the end and so on must be completed automatically. The motor is a critical component of a micro mouse, according to the information transmitted by the microcontroller, the starting, marching, turning, stopping and other activities of the micro mouse are controlled by motor.Because of stepper motor's open-loop control and shortcomings such as out of step and oscillations, so stepper motor close-loop fuzzy PID controller and DC motor fuzzy PID controller are designed, at the same time, the hardware construction and software flow chat are given. This paper mainly contents two aspects:(1) Because the movement and speed of the micro mouse are all controlled by the motor, so the conclusion that motor is the elementary action's control core is obtained. In this paper, according to the weak point of stepping motor open-loop operation, stepping motor close-loop control method and DC motor control method are proposed.(2) Based on analyzed and compared the classic PID control method, the stepper motor close-loop fuzzy PID controller and DC motor fuzzy PID controller are designed. Under the MATLAB/Simulink environment, the steeper motor close-loop model and DC motor model are established, and a detailed simulation analysis about the two models is carried out. The results show that because of the fuzzy PID algorithm, the out of step and lost step phenomena are reduced, the system's speed of response is accelerated, the system's stability is increased.