The invention discloses an automatic deviation rectifying method and system for a tracked robot based on PID control, and relates to the field of robot control systems.The automatic deviation rectifying method comprises the steps that a variable track angle mechanism is designed, the angle requirements of different working conditions are met, and a variable-angle inclined double-track structure is installed; a large amount of actual operation data is collected, a machine learning algorithm is used for modeling system dynamic characteristics, and an optimal PID parameter combination is automatically generated to adapt to various working conditions; the deviation e (t) of the advancing tracks at different speeds, angles and terrains is tested and recorded on site, and autonomous path planning, multi-machine cooperative formation and obstacle bypassing are carried out; the speed of the motor is controlled by adopting a PWM technology, the actual rotating speed is monitored by using an encoder feedback device, a closed-loop control algorithm is developed, and the output of the automatic deviation correction system is converted into PWM to control the motor. According to the invention, the performance and safety of the robot in complex tasks are improved.

    本发明公开了一种基于PID控制的履带机器人自动纠偏方法及系统,涉及机器人控制系统领域,包括设计可变履带角度机构,满足不同工况角度需求,并安装可变角度斜置双履带结构;采集大量实际运行数据,使用机器学习算法模型化系统动态特性,自动生成最优PID参数组合适应各种工况;实地测试记录不同速度、角度、地形下行进轨迹的偏差e(t),进行自主路径规划、多机协同编队和障碍绕行;采用PWM技术控制电机速度,使用编码器反馈装置监控实际转速,开发闭环控制算法,将自主纠偏系统输出转换为PWM控制电机。本发明提高了机器人在复杂任务中的性能和安全性。


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    Titel :

    PID (Proportion Integration Differentiation) control-based tracked robot automatic deviation correction method and system


    Weitere Titelangaben:

    一种基于PID控制的履带机器人自动纠偏方法及系统


    Beteiligte:
    HONG WEI (Autor:in) / YANG QIANGQIANG (Autor:in) / WU XIAO (Autor:in) / KE HAIPENG (Autor:in) / XU GUANGXUE (Autor:in) / LIU HUA (Autor:in)

    Erscheinungsdatum :

    14.06.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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