PID adjusting method for robot in decelerating and braking state

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...

AI Technical Summary

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 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. As the duty cycle of the PWM signal output by the adjustment becomes larger and larger, the movement of the robot is easy to get out of control.

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