Research Of The Pid Control Method In Robots

The robot control technology has been studying by the overseas and domestic scholars for a very long time. With the development of information technology and control technology, as well as the extending of robot application fields, the robot control technology has been applying in more and more control situations. This thesis particularly introduced the PID control method on two different types of robot system, Weight Reduced CPM and Aerial Robot. The main content of this thesis includes the designing, debugging and experimentations of the two robot systems.The Weight Reduced CPM section introduced the analysing work of specific robot system and the establishment of systematical scheme of designing, included the hardware design and software design. In this section, the author made the reasonable layout to the operation process and set the operation methods, then made out the software structure to the robot system, and analysed the control method in the Weight Reduced CPM.The Aerial Robot section introduced the process of building an AP50-autopilot based UAV system, included the selecting, testing, fixing and debugging work to the UAV. Based on this Aerial Robot the author finished the automatic flight adjusting experiment. By analysing the data recorded in the flight, he evaluated the infection of the different factors to the robot system, and summarized a suit of feasible methods of AP50-autopilot based UAV's PID parameters adjustment.The final section summed up the study results, analysed the shortcomings in the study, made an experication to the next stage of work, and brought forward some feasible study methods.