Control method of wheel-type robot driving moor, control device of wheel-type robot driving motor, and wheel-type robot
A drive motor and control wheel technology, applied in the control of the drive motor of a wheeled robot, in the field of wheeled robots, can solve the problems of low output efficiency of the drive motor and the inability to guarantee the output efficiency of the drive motor.
Active Publication Date: 2017-09-22
LINGDONG TECH BEIJING CO LTD
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[0005] In view of this, the purpose of the embodiment of the present invention is to provide a wheeled robot drive motor control method, device and wheeled robot to solve the problem of real-time control of the drive motor of the wheeled robot using the drive motor control method in the related art , although the output power of the drive motor can be increased to a certain extent, the output efficiency of the drive motor cannot be guaranteed, resulting in the problem of low output efficiency of the drive motor
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[0068] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making...
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The invention provides a control method of a wheel-type robot driving moor, the control device of the wheel-type robot driving motor, and the wheel-type robot. The control method comprises steps that the current rotating speed and the current of the driving motor of the wheel-type robot are determined; the current is converted into a two-phase rotating coordinate system; according to a difference value between the current rotating speed and a preset rotating speed, a radial current component is adjusted, and according to a current output moment and a corresponding relation between a pre-stored moment and a target vertical current value, the vertical current component is adjusted; when the absolute value of the difference value between the current rotating speed and the preset rotating speed is smaller than a first preset value, and the absolute value of the difference value between the current vertical component and the target vertical current value is smaller than a second preset value, a target current after adjustment is determined; the duty ratio of the motor is determined according to the preset rotating speed, the current rotating speed, and the target current after the adjustment. The output power of the motor is improved by adjusting the radial current component, and the output efficiency of the motor is improved by adjusting the vertical current component, and therefore the output power of the motor and the output efficiency of the motor are improved.
Description
technical field [0001] The invention relates to the technical field of drive motor control, in particular to a control method and device for a drive motor of a wheeled robot and a wheeled robot. Background technique [0002] At present, with the continuous development of science and technology, as well as the rapid development of sensor technology and microcontrollers, sensor-based wheeled mobile robots have been widely used in various fields such as manufacturing, service, agriculture, and detection. Everyday life brings all sorts of conveniences. [0003] At present, a control method for the drive motor of a wheeled robot is provided in the related art, mainly: by reducing the current component in the direction perpendicular to the rotation torque direction of the drive motor, so as to increase the current in the direction parallel to the rotation torque direction of the drive motor The purpose of the component is to achieve the effect of increasing the current component ...
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IPC IPC(8): G05D13/62
Inventor 任国荣陈召强齐欧
Owner LINGDONG TECH BEIJING CO LTD