Abstract: According to the configuration of two closed control loops based on vision-servo, the design of control system for soccer robot car based on DSP technology and nonlinear PI control was presented, which ensured the control accuracy and improved the real-time performance. Meanwhile, fuzzy self-tuning nonlinear PI control method applied in the position control loop could enhance the self-adaptive capabilities. The experimental results in soccer robot system verified the validity. The approaches can take action in the control fields of other mobile robots too.

Key words: DSP, nonlinear PI control, fuzzy self-tuning, soccer robot, mobile robot

摘要： 以集控式足球机器人为研究对象，以双闭环视觉伺服控制结构为主线，提出了基于DSP技术和非线性PI控制算法的机器人小车控制系统设计，保证了控制的准确性，提高了控制的实时性；论证了单参数模糊自校正非线性PI算法应用于机器人位置环控制中的可行性，增强了系统的自适应能力。实验证明了此方案对足球机器人运动控制的有效性，其原理对其它类型移动机器人的控制同样有借鉴作用。

关键词: DSP, 非线性PI控制, 模糊自校正, 足球机器人, 移动机器人