【摘要】 近年来，我国各种自然灾害与事故不断发生，应急救援机器人的出现，为提高应急救援能力提供了新的助力。电机作为应急救援机器人的核心驱动装置，高精度的电机控制尤为重要。以步进电机作为研究对象，设计模糊自适应PID控制器，运用MATLAB/Simulink软件进行仿真实验。结果表明，相比于传统PID电机控制，模糊自适应PID电机控制拥有更好的控制效果，响应时间更快、超调量更小、调节时间更短，抗干扰能力更强。更多还原

【Abstract】 In recent years,various natural disasters and accidents have occurred constantly in China,the emergence of emergency rescue robots has provided a new impetus to improve the emergency rescue capacity. Motor is the core actuating device of the emergency rescue robot,and high precision motor control is particularly important. The stepper motor is used as the research object,fuzzy self-tuning PID controller is designed,simulation on the MATLAB/Simulink. The results show that fuzzy self-tuning PID motor control has better control effect compared to conventional PID motor control. It has faster response time,smaller overshoot,shorter settling time and greater anti-interference ability.更多还原