The invention provides a pulse neural network-based small wheel speed self-regulation method and a pulse neural network-based small wheel speed self-regulation system. The method comprises the steps of obtaining a PWM value of a left wheel motor of a small wheel; the PWM value is adjusted by controlling the state processor; obtaining the offset of the motion angle of the trolley recorded by the inertial measurement unit; carrying out numerical adjustment on the offset through an angle processor; adjusting a PWM control signal through a supervised learning algorithm of the pulse neural network in combination with the angle signal, applying the PWM control signal to the trolley, and adjusting the wheel speed of the trolley; and circulating the steps to realize real-time adjustment of the wheel speed of the trolley. The characteristics of low power consumption and high dynamic property of the pulse neural network are utilized, the pulse neural network and the IMU are combined to carry out trolley straight walking control, the trolley has the wheel speed self-adaptive capacity, and the problem that the trolley cannot walk straightly due to the factors such as different motor characteristics of the trolley and external environment interference is solved.
本发明提供了一种基于脉冲神经网络的小车轮速自调控方法及自调控系统,方法包括:获取小车左轮电机PWM值;通过控制状态处理器对PWM值进行数值调整;获取惯性测量单元记录的小车运动角度的偏移量;通过角度处理器对偏移量进行数值调整;通过所述脉冲神经网络的有监督学习算法,结合所述角度信号,对PWM控制信号进行调整并应用到小车上,调整小车轮速;循环上述步骤实现小车轮速的实时调整。本发明利用了脉冲神经网络低功耗、高动态性的特点,将脉冲神经网络和IMU相结合进行小车直走控制,使小车具备轮速自适应能力,解决了小车由于其自身电机特性不相同、外界环境干扰等因素造成的走不直问题。
Trolley wheel speed self-regulation method and self-regulation system based on pulse neural network
基于脉冲神经网络的小车轮速自调控方法及自调控系统
2023-03-14
Patent
Electronic Resource
Chinese
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