Study on Hybrid PID Control of Multi-Terrain Mobile Robot Based on Moment Balance Mechanism

Aiming at the phenomenon of body vibration and excessive slip rate caused by the influence of complex road surface when the four-wheeled differential mobile robot walks and steers, a moment balancing mechanism is designed, and on this mechanism, the mechanical analysis of
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body of multiterrain mobile robot is carried out and a dynamic model is established, and the mathematical expression of road excitation is given; a method based on the IMU to establish the kinematic model of the whole vehicle is proposed and a hybrid PID controller is designed to verify the optimization effect of MATLAB-Simulink simulation experiments for body slip rate and stability, respectively. A method based on IMU to establish the kinematic model of the whole vehicle is proposed and a hybrid PID controller is designed. MATLAB-Simulink simulation experiments are carried out to verify the optimization effect of the moment balancing mechanism and the PID designed hybrid controller on the slip rate and stability of the vehicle body, respectively. The study provides a theoretical basis for the design of mobile robot mechanism and control method.