PID adjusting method for robot in decelerating and braking state

An adjustment method and robot technology, applied in the direction of robot cleaning machine, machine parts, cleaning machinery, etc., can solve problems such as failure to achieve deceleration, robot movement easily out of control, etc., to reduce static difference, reduce frustration, and improve smoothness. Effect

Active Publication Date: 2021-04-13
AMICRO SEMICON CORP
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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 deceleration process. For example, during the deceleration process of the robot, if the speed response is too fast, there will be a sense of frustration when performing sudden braking and deceleration. If the response is too slow, it will be delayed. , and the deceleration does not reach the target speed value, it ...

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  • PID adjusting method for robot in decelerating and braking state
  • PID adjusting method for robot in decelerating and braking state

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Embodiment Construction

[0018] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention.

[0019] As an embodiment, the embodiment of the present invention discloses a PID adjustment method under the deceleration and braking state of the robot. The PID adjustment method is suitable for the robot to perform the braking deceleration movement, and the PID controller installed inside the robot controls the driving wheel to execute, such as figure 1 As shown, it specifically includes: step S101, according to the abnormal situation of the speed difference between the current walking speed of the robot's driving wheels and the target speed configured in the current adjustment cycle, select to perform P adjustment or reverse the current walking speed of the robot's driving wheels Open-loop adjustment, so as to reduce the speed difference between the current walking speed and the target speed...

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Abstract

The invention discloses a PID adjusting method for a robot in a decelerating and braking state. According to the PID method, based on the change conditions of the decelerating and walking speed of driving wheels of the robot, including the change conditions of the speed and the speed direction, the deceleration walking speed of the driving wheels of the robot is controlled to stably change to the target speed in the corresponding adjustment period through incremental PI adjustment, and the wrong walking speed direction is corrected in time, so that the walking speed of the robot can be controllably reduced to the pre-configured target speed in a brake deceleration change scene, the situation that the guide speed is increased towards the wrong direction due to the wrong direction of the speed change amount is avoided, the robot does not brake but does accelerated motion towards the opposite direction, and the smooth degree of braking walking and the precision of decelerated walking of the robot are improved.

Description

technical field [0001] The invention relates to the technical field of deceleration control of driving wheels of a robot, in particular to a PID adjustment method in a deceleration and braking state of a robot. Background technique [0002] At present, there are certain defects in the speed control of the sweeping robot during the deceleration process. For example, during the deceleration process of the robot, if the speed response is too fast, there will be a sense of frustration when performing sudden braking and deceleration. If the response is too slow, it will be delayed. , and the deceleration does not reach the target speed value, it is possible to change the speed direction across 0 due to excessive acceleration, so that the robot moves in the opposite direction, and finally not only fails to achieve the purpose of deceleration, but reverses the initial speed, that is, let The robot decelerates too much, and as the duty cycle of the PWM signal that adjusts the output...

Claims

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Application Information

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IPC IPC(8): A47L11/24A47L11/40G05B11/42
CPCA47L11/24A47L11/40A47L11/4011A47L11/4072A47L2201/00G05B11/42
Inventor 廖伟健李永勇杨武
Owner AMICRO SEMICON CORP
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