摘要机器人作为光电信号和计算机控制一体化的前沿研究领域, 技术含量高、难度大, 是高新技术研究发展水平的重要标志之一。机器人既可以在恶劣危险的环境下实现检修、 救援、探测等工作，也可以在服务、娱乐行业方面发挥重要的作用, 具有广阔的应用前 景。因此机器人的总体设计与控制算法研究、仿真实验均十分重要。本文采用乐高 9797 教育套系和 45560 补充包, 基于 NXT 控制器、伺服马达和多传感器的信息融合, 自主搭 建模型并通过采用合适的控制算法完成特定的工作任务(避障、巡线、自动靠近等) , 实 现控制目的。本文主要包含以下几个方面：77067

（1）进行乐高机器人搭建，根据现阶段社会发展需求，通过分析各传感器的特性， 选取合适的传感器进行安装，搭建机器人的本体结构；

（2）利用乐高编程软件，结合控制需求，采用合适的控制算法进行编程设计并实现 避障、巡线、自动靠近等功能；

（3）学习使用模糊 PID 算法，并对模糊 PID 算法进行理论研究，分析其应用的可能 性。利用 matlab/simulink 进行控制算法仿真，选取合适的控制参数，结合仿真结果及 实际工作环境，进行控制参数调节。

毕业论文关键词 机器人 传感器 NXT 控制器 模糊 PID 控制

毕 业 设 计 说 明 书 外 文 摘 要

Title The Construction and Control Algorithm Research of Lego Robot with NXT Controller

Abstract Robot is a frontier research field of photoelectric signal and the integration of computer control with high technical and difficulty, is one of the important symbol of the levels of high-tech research and development。 Robot can be realized in severe danger environment maintenance, rescue, detection, etc。, can also play an important role in service, entertainment industry。 Robot has a broad application prospect。 So the overall design, control algorithm of robot research and the simulation experiment are very important in scientific research。 This paper uses 9797 lego education suit and 45560 supplementary package, based on the NXT controller, servo motor and the multi-sensor information fusion, builds model independently by  selecting  appropriate control algorithm to complete the specific tasks (such as obstacle avoidance, patrol, automatic approach) and realize the control purpose。 This article mainly includes the following aspects:

(1)The building of Lego robot according to the needs of social development at this stage, through the analysis of the characteristics of each sensor, selecting the appropriate sensors to install, building the robot's body structure;

(2)The ues of Lego programming software, combined with the control requirements, the use of suitable control algorithm, to achieve obstacle avoidance,  patrol  line,  automatic approach , etc。;

(3)Learning the use of the fuzzy PID algorithm, and the theoretical research of fuzzy PID algorithm, and the research of the possibility of its application。 Using matlab/simulink  to simulate the control algorithm , selecting the appropriate control parameters combined with the simulation results and the actual working environment, adjusting the control parameters。

Keywords  Robot  Sensor   NXT Controller  Fuzzy PID control

本科毕业设计说明书 第 I 页

目 次

1 引言 1

1 。 1 研 究意 义 及背 景