Abstract:

The frequency of global natural disasters has surged, leading to the advent of disaster rescue robots that have significantly enhanced the capability of emergency rescue operations following disasters. The stepper motor, as the core driving device of these rescue robots, plays a pivotal role, with its precision being a crucial measure of the robot's effectiveness. This paper analyses the characteristics of the mechanical structure and control system of rescue robots. It combines the advantages of Proportional Integral Derivative (PID) control in controlling linear steady-state systems with the effective control of complex nonlinear systems by fuzzy control, and optimizes the fuzzy PID control using particle swarm algorithms. Focusing on stepper motors as the subject of study, a particle swarm-optimized fuzzy PID controller has been designed and simulated using MATLAB/Simulink software. Compared to fuzzy PID motor controllers, the particle swarm-optimized fuzzy PID control exhibits improved control performance, characterized by faster response times, reduced overshoot, and shorter adjustment periods.