PID adjustment method in the state of deceleration and braking of the robot

Abstract

The invention discloses a PID adjustment method under the deceleration and braking state of the robot. The PID adjustment method is based on the change of the deceleration walking speed of the driving wheel of the robot, including the change of the speed and the speed direction, and controls the driving of the robot through incremental PI adjustment. The deceleration walking speed of the wheel changes smoothly to the target speed in the corresponding adjustment period, and the wrong walking speed direction is corrected in time, so that the walking speed of the robot can be controlledly reduced to the pre-configured target speed in the braking deceleration change scene, without any delay. Because the direction of the speed change is wrong, the guiding speed increases in the wrong direction, so that the robot not only does not brake but accelerates in the opposite direction, improving the smoothness of the robot's braking and walking accuracy.

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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