The robot starts PID adjusting method in accelerated motion

Abstract

The invention discloses a PID adjusting method in robot starting accelerated motion, which is suitable for a robot to execute accelerated motion and comprises the following steps: step 1, carrying outP adjustment on a speed difference value between a current walking speed of a driving wheel of the robot and a target speed configured in a current adjusting period, so that the current walking speedof the driving wheel of the robot is increased, and the speed difference between the current walking speed and the target speed configured in the current adjusting period is reduced; and step 2, determining a mode of performing incremental PI adjustment on the current walking speed adjusted in the step 1 according to the relationship between the current walking speed adjusted in the step 1 and the target speed configured in the current adjustment period, and increasing the current walking speed of a driving wheel of the robot on the basis of the step 1, wherein the speed difference between the current walking speed adjusted in the step 1 and the target speed configured in the current adjusting period is reduced. The smooth degree of the robot in the accelerated walking process is improved.

Description

technical field [0001] The invention relates to the technical field of acceleration control of driving wheels of a robot, in particular to a PID adjustment method in the acceleration motion of a robot. Background technique [0002] At present, there are certain defects in the speed control of the sweeping robot during the acceleration movement. For example, when the driving motor of the robot starts to accelerate, sometimes the speed response of the open-loop control of the PWM signal is too fast, which is prone to twisting and speed fluctuations. If it is too large, there will be a sense of frustration, which not only affects the precise control of the acceleration process, but also causes the problem that the accelerator of the robot drive motor device cannot start and accelerate normally. Contents of the invention [0003] In order to solve the above-mentioned problem of normal startup and acceleration of the accelerator of the driving wheel, the present invention perfo...

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Problems solved by technology

[0002] At present, there are certain defects in the speed control of the sweeping robot during the acceleration movement. For example, when the driving motor of the robot starts to accelerate, sometimes the PWM signal is open-loop The response of the control speed is too fast, it is prone to twisting, and there will be a sense of frustration if the speed fluctuates too much, which not only affects the precise control of the acceleration process, but also causes the problem that the accelerator of the robot-driven motor device cannot start and accelerate normally.

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