Automatic control method and automatic control system for direct-current micromouse

Abstract

The invention provides an automatic control method and an automatic control system for a direct-current micromouse which are used for solving the problems of low response speed, out-of-step, oscillation and collision of a controlled object of the micromouse. The invention discloses an automatic control method for a direct-current micromouse. The method comprises the steps of obtaining a tracking speed and a tracking acceleration according to a running target speed and obtaining an observation disturbance, an observation speed and an observation acceleration are obtained according to an actualspeed based on the acquisition of the current running target speed and the actual speed of the direct-current micromouse, obtaining a tracking speed error and a tracking acceleration error after subtraction, and obtaining a system control quantity through a nonlinear feedback link to achieve the automatic control of the direct-current micromouse. According to the invention, an ADRC algorithm is utilized to automatically control the direct-current micromouse, the speed tracking error and the acceleration and deceleration switching frequency in the operation process of the micromouse are effectively reduced, the accurate control over the direct-current micromouse is achieved, the searching time, the sprinting time and the collision frequency of the direct-current micromouse to a destinationare effectively reduced, and the success rate of search is increased.

Description

technical field

[0001] The invention belongs to the field of miniature intelligent robot control, and in particular relates to an automatic control method and system for a DC computer mouse. Background technique

[0002] Intelligent robots are a kind of bionics for humans, endowed with multiple functions such as limbs, senses, and brain power, and are playing an increasingly important role in technology and daily life. Similarly, the computer mouse is a kind of bionic "mouse", derived from "mouse walking the maze". An intelligent walking device composed of sensors and electromechanical moving parts is also a micro robot. The computer mouse can automatically memorize and select paths in different "mazes", and use corresponding algorithms to quickly reach the set destination. In the computer mouse maze competition, an international event, according to the rules of the competition, when the computer mouse is placed at the starting point and the start button is pressed, it mus...

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