摘要
为了提高巡检机器人在转弯及有坡度路况下的平稳性与快速性,设计了一种差速控制器。前轮控制速度实现转向,后轮承担驱动功能。其中采用电流环为滞环控制、速度环为自适应模糊PI控制的双闭环控制策略,模拟巡检平台硬件、软件采用模块化设计。在MATLAB环境下进行仿真实验,并在模拟平台进行实验验证。结果表明,该系统具有良好的运行效果。
In order to improve the smoothness and rapidity of the inspection robot in turning and slope conditions, a differential controller is designed. The front wheel controls the speed for steering and the rear wheel for the drive function. Among them, the current loop is the hysteresis control and the speed loop is adaptive fuzzy PI control. The hardware and software of the simulation inspection platform adopt modular design. The simulation experiment is carried out in the MATLAB environment, and the experiment is verified on the simulation platform. The results show that the system has a good running effect.
作者
胡秀敏
何志琴
钞凡
杨睿婉
HU Xiumin;HE Zhiqin;CHAO Fan;YANG Ruiwan(School of Electrical Engineering, Guizhou University, Guiyang 550025, China)
出处
《实验室研究与探索》
CAS
北大核心
2019年第8期84-87,共4页
Research and Exploration In Laboratory
关键词
巡检机器人
运动控制
差速控制
inspection robot motion control
differential control
