Control system of six-rotor spherical robot and track control method thereof
A spherical robot and trajectory control technology, which is applied to controllers with specific characteristics, electric controllers, etc., can solve the problems of complex trajectory tracking and difficult to achieve control effects, and achieve the effect of reducing control difficulty and simplifying control models.
Active Publication Date: 2021-09-24
BEIHANG UNIV YUNNAN INNOVATION INST +1
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Problems solved by technology
[0002] Most of the existing spherical robot control technologies are based on the gravity pendulum and driving wheel drive methods, and adopt the control strategy of linear rolling and yaw steering decoupling, which has the problem of complex trajectory tracking, and it is difficult to achieve accurate and stable control effects
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[0045] All features disclosed in this specification, or steps in all methods or processes disclosed, may be combined in any manner, except for mutually exclusive features and / or steps.
[0046] Any feature disclosed in this specification (including any appended claims, abstract), unless otherwise stated, may be replaced by alternative features which are equivalent or serve a similar purpose. That is, unless expressly stated otherwise, each feature is one example only of a series of equivalent or similar features.
[0047] Such as figure 1 As shown, the shell of the six-rotor spherical robot is a spherical shell 1, and the spherical shell 1 has a hole 12; in the embodiment, the hollow spherical shell is preferred, and the hollow design is adopted to facilitate the airflow of the blades to pass through. The spherical shell is divided into two hemispherical shells, namely an upper hemispherical shell 10 and a lower hemispherical shell 11, and the two hemispherical shells can be ...
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The invention discloses a control system of a six-rotor spherical robot, which is characterized by comprising a position controller, an attitude controller, a control distributor and a spherical rolling dynamics module, the position controller is used for inputting track way points and current position information received by the sensor, calculating deviation, outputting expected rolling angular velocity and transmitting the expected rolling angular velocity to the attitude controller; the attitude controller inputs the expected rolling angular velocity and angular velocity data measured by the sensor, calculates angular velocity deviation, outputs expected driving torque and transmits the expected driving torque to the control distributor; and the control distributor is used for resolving the expected driving torque into a control signal of the motor according to the spatial configuration of motor arrangement in the six-rotor spherical robot and the current attitude information. The cascade PID algorithm is adopted for trajectory control, the control problem of the six-rotor spherical robot is solved, and complex trajectory tracking and accurate and stable control of the spherical robot are achieved.
Description
technical field [0001] The invention relates to the technical field of spherical robot control, in particular to a control system of a six-rotor spherical robot and a speed and position control method thereof. Background technique [0002] Most of the existing spherical robot control technologies are based on the gravity pendulum and drive wheel drive methods, and adopt the control strategy of linear rolling and yaw steering decoupling, which has the problem of complex trajectory tracking, and it is difficult to achieve accurate and stable control effects. Contents of the invention [0003] The purpose of the present invention is to provide a six-rotor spherical robot control system and its trajectory control method to achieve accurate and stable control of the six-rotor spherical robot. [0004] The technical scheme that the present invention adopts is as follows: [0005] The control system of a six-rotor spherical robot of the present invention includes a position cont...
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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 赵江蔡志浩赵珅吴伟靖王英勋
Owner BEIHANG UNIV YUNNAN INNOVATION INST