Optimal Control Algorithm of Working Speed of Deicing Robot Based on Fuzzy PID

摘要

The working efficiency of de-icing robot is always influenced by its working speed. To solve this problem, an algorithm for real-time adjusting the working speed was put forward based on fuzzy PID control technology. The walking speed regulation model was established to achieve the optimal control of the working speed of de-icing robot. The algorithm combined the traditional PID control with fuzzy algorithm by acquiring the real-time parameters of ice thickness. Both the fuzzy rules and reasoning method of PID were used set online parameters and adjust the real-time working speed to achieve optimal control of operating speed. Meanwhile, simulink simulation and experimental studies carried out based on the self-designed de-icing robot. Simulation results show that the proposed algorithm can adjust the working speed in real time according to the deicing effect of the deicing robot, which can improve the de-icing efficiency of the deicing robot and the intelligence level of the de-icing robot.