摘要
巡检机器人在未来将应用到工业和生活各个领域,轮速控制系统是实现机器人自主巡检的关键环节。针对工程研发过程中遇到的问题和传统控制系统滤波方式的优缺点,设计了三种滤波相融合的机器人轮速控制系统滤波方案,并在STM32F103嵌入式ARM控制器中采用增量式PID控制算法对其进行轮速控制。实验对复合滤波器使用前后进行实物数据采样和图表对比,验证了三种滤波器的组合方案可以使巡检机器人轮速控制精度较滤波前有较大提高,轮速偏差均值提升至0.6 r/min。
Inspection robot will be applied to every field of industry and life in the future. Wheel speed control system is the key link of robot autonomous inspection. In view of the advantages and disadvantages of filtering methods in the traditional wheel speed control system and encountered engineering problems in the process of research and development,the integration of three kinds of filter schemes were used in the robot control system,and the incremental PID control algorithm was used to control the speed in STM32 F103 embedded ARM controller. The real data sampling and comparison were done in the experiment before and after the composite filter used,and the results verified that the combination of the three kinds of filters can be used to make great improvement in the control precision of the inspection robot,and increase average wheel speed deviation to 0. 6 r/min.
作者
戚尔江
彭道刚
邱正
关欣蕾
Qi Erjiang;Peng Daogang;Qiu Zheng;Guan Xinlei(Shanghai Engineering Research Center of Intelligent Management and Control for Power Process, College of Automation Engineering, Shanghai University of Electric Power, Shanghai 200090, Chin)
出处
《电测与仪表》
北大核心
2018年第10期76-83,共8页
Electrical Measurement & Instrumentation
基金
上海市"科技创新行动计划"社会发展领域项目(16DZ1202500)
上海市科学技术委员会工程技术研究中心项目资助(14DZ2251100)
关键词
巡检机器人
滤波
增量式PID
嵌入式
轮速控制系统
inspection robot
filtering
incremental PID
embedded system
wheel speed control system
