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Speed control method and speed control device

A speed control and speed technology, applied in the computer field, can solve the problems of low precision and accuracy of warehouse handling robots, and PID controllers cannot make adjustments in real time, and achieve the effect of improving accuracy and precision.

Active Publication Date: 2017-06-20
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But in fact, with the change of the environment, such as continuous running time, frequent load changes, etc., the system characteristics are always changing, which does not necessarily conform to the linear law, and the control parameters of the PID controller cannot be adjusted in real time. This makes the precision and accuracy of the speed control of the warehouse handling robot lower

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  • Speed control method and speed control device

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Embodiment Construction

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0031] Aiming at the problem that the PID controller is used in the prior art to control the speed of the handling robot with relatively low accuracy and precision, this solution is proposed.

[0032] The speed control device in the embodiment of the present invention can each be realized by var...

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Abstract

The invention discloses a speed control method and a speed control device and relates to the technical field of a computer. A nonlinear neural network model can simulate non-linear relationship between velocity instructions under different environments and speed values; a current velocity instruction and historical velocity instructions within a preset time as well as historical velocity values are input to the nonlinear neural network model to obtain a corrected velocity instruction, wherein the corrected velocity instruction is obtained by carrying out correction on the current velocity instruction according to the non-linear relationship between the velocity instructions and the speed values; and the corrected velocity instruction is input to a system based on PID control to obtain an expected speed value, thereby improving speed control accuracy and precision.

Description

technical field [0001] The invention relates to the technical field of computers, in particular to a speed control method and a speed control device. Background technique [0002] Driven by the Chinese government's vigorous promotion of the integration of industrialization and informatization, the logistics industry revolution has quietly emerged. Major logistics companies have increased investment in smart logistics, and are constantly absorbing, Combine and innovate. As the key equipment for reducing logistics costs and improving access efficiency, the handling robot of unmanned warehouse directly affects the stability and work efficiency of the robot. [0003] Most of the existing unmanned warehouse handling robots use a dual-motor drive scheme. The motors of each driving wheel are independently speed-planned and controlled. The traditional PID (Proportion Integration Differentiation, proportional-integral-differentiation) controller is used as the speed closed-loop cont...

Claims

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Application Information

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IPC IPC(8): H02P5/00
CPCH02P5/00
Inventor 霍峰
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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