A PID-based attitude control system for a dual-disc power trowel.

Abstract

This invention discloses a posture control system for a dual-disc power trowel based on PID control. This invention relates to the field of concrete construction machinery control technology. The system includes a posture sensing module, a PID controller module, an execution drive module, and a feedback adjustment module. The posture sensing module collects the trowel tilt angle, trowel contact pressure, and motion posture parameters of the dual-disc power trowel in real time. The PID controller module outputs a control signal based on the deviation between the preset target posture parameters and the actual collected parameters through a proportional-integral-derivative three-stage collaborative calculation. The execution drive module adjusts the tilt angle and rotation speed of the dual trowels according to the control signal. The feedback adjustment module feeds back the adjusted posture parameters to the PID controller module in real time, forming a closed-loop control. This invention solves the trajectory deviation problem caused by uneven concrete paving and other factors in traditional power trowels by optimizing the parameter adjustment mechanism of the PID control algorithm, thereby improving construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of concrete construction machinery control technology, specifically to a posture control system for a dual-disc power trowel based on PID control. Background Technology

[0002] In large-area concrete construction, surface finishing and smoothing are crucial processes to ensure concrete surface quality and service life. Double-disc power trowels are widely used for concrete surface treatment in factories, warehouses, and other projects due to their high efficiency and excellent smoothing effect. However, traditional double-disc power trowels often employ open-loop control, which has the following technical drawbacks: On the one hand, uneven initial concrete spreading and inconsistent density can cause random changes in the friction between the trowel and the concrete surface, which in turn causes uncertain fluctuations in the movement posture of the trowel and affects the smoothness of the troweled surface. On the other hand, open-loop control cannot correct the deviations in the trowel tilt angle and angular velocity in real time. As the construction time increases, the cumulative error of the trajectory gradually increases, resulting in a decrease in construction efficiency and even requiring rework. Although there have been attempts to use PID control algorithms for mechanical attitude control in existing technologies, the PID control parameters have not been specifically optimized for the special structure of the double-disc power trowel. This results in slow response speed and large trajectory error when switching between linear and arc motion, making it difficult to meet the requirements of high-precision construction. Therefore, there is an urgent need for a posture control system that can adapt to the working characteristics of a double-disc power trowel, has high control precision, and strong stability. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a PID-based attitude control system for a dual-disc power trowel, which solves the problems of low attitude control accuracy and trajectory deviation in existing dual-disc power trowels.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a PID-based attitude control system for a dual-disc power trowel, comprising: The attitude sensing module is used to collect the trowel tilt angle, trowel contact pressure and overall machine motion attitude parameters of the dual-disc power trowel in real time. The motion attitude parameters include travel speed, displacement and travel angle. The PID controller module is preset with target posture parameters of the power trowel, receives the actual posture parameters collected by the posture sensing module, calculates the deviation between the actual posture parameters and the target posture parameters, and outputs a control signal through proportional-integral-derivative collaborative operation. The execution drive module, electrically connected to the PID controller module, includes a motor that drives the dual shovels to rotate and an electric push rod that adjusts the tilt angle of the shovels, for adjusting the speed and tilt angle of the dual shovels according to the control signal; The feedback adjustment module is used to collect the attitude parameters of the power trowel after the execution drive module has adjusted them in real time, and feed them back to the PID controller module to form a closed-loop control circuit.

[0005] As a further embodiment of the present invention, the attitude sensing module includes a tilt sensor, a pressure sensor, a gyroscope, and a lidar.

[0006] As a further aspect of the present invention, the specific formula for the proportional-integral-differential coordinated operation is as follows: Where u(t) is the output control signal of the controller at time t, and K P K is the proportionality coefficient. I K is the integral coefficient. D Here, e(t) is the differential coefficient, and e(t) is the deviation between the target attitude parameters and the actual attitude parameters at the current moment.

[0007] As a further aspect of the present invention, the specific operation for dynamically adapting and correcting the control signal is as follows: The current state of the polishing machine is determined by the travel angle data collected by the gyroscope and the speed and displacement data collected by the lidar. The state is one of linear motion, arc motion, or turning motion. Based on the initial values ​​K of the three pre-stored PID coefficients P0 K I0 K D0 The three values ​​are dynamically adjusted based on the current state of the power trowel.

[0008] As a further aspect of the present invention, the specific rules for determining the current state of the power finishing machine are as follows: If the rate of change of the vehicle's yaw angle collected by the gyroscope is ≤A1 and the lateral displacement deviation collected by the lidar is <B1, and this continues for more than three collection cycles, then it is judged to be in a linear motion state. If the yaw angle change rate of the vehicle body collected by the gyroscope is ∈(A1,A2], and the turning radius fluctuation collected by the lidar is ≤C1, and this continues for more than two collection cycles, then it is judged to be a curved motion state. If the rate of change of the vehicle's yaw angle collected by the gyroscope is greater than A2, and the lateral displacement deviation collected by the lidar is less than B1, then it is determined to be a steering motion state. Where A1 and A2 are the angular change rate thresholds, B1 is the displacement threshold, and C1 is the fluctuation threshold.

[0009] As a further aspect of the present invention, the specific steps for dynamically adjusting these three values ​​based on the current state of the power trowel are as follows: If the motion is linear, the proportionality coefficient K P Adjust to K P0 1.2-1.5 times, integral coefficient K I Adjust to K I0 0.3-0.6 times, differential coefficient K D Adjust to K D0 1.0-1.3 times; If the motion is in an arc, the proportionality coefficient K P Adjust to K P0 0.6-0.9 times, integral coefficient K I Adjust to K I0 0-0.2 times, differential coefficient K D Adjust to K D0 1.2-1.6 times; If it is a steering motion state, the proportional coefficient K P Differential coefficient K D All remain at the initial value K P0 K D0 0.8-1.2 times, integral coefficient K I Adjust to 0.

[0010] As a further aspect of the present invention, when the motion is linear, if the absolute value of the deviation is greater than a preset threshold, then the proportional coefficient K... P Take the upper limit of 1.5 times; when the absolute value of the deviation is less than or equal to the preset threshold, the proportional coefficient K is... P Take the lower limit of 1.2 times.

[0011] As a further aspect of the present invention, the rotational speed of the dual shovels is adjusted by regulating the output power of the motor, the tilt angle of the shovels is adjusted by the extension and retraction of the electric push rod, and the tilt angle adjustments of the dual shovels are performed independently.

[0012] As a further aspect of the present invention, the feedback period of the feedback adjustment module is consistent with the acquisition period of the attitude sensing module.

[0013] This invention provides a PID-based attitude control system for a dual-disc power trowel, which has the following advantages compared with the prior art: (1) The present invention adopts a closed-loop control structure. Through the coordinated work of the attitude sensing module and the feedback adjustment module, the attitude parameters are collected and fed back in real time. Combined with the parameter self-tuning unit, the problem of large trajectory cumulative error in traditional open-loop control is solved. (2) The present invention realizes fully automatic closed-loop control of the posture of the power trowel, which does not require frequent manual intervention and correction by the operator, greatly reducing the labor intensity of construction and improving the efficiency of continuous operation. At the same time, the system architecture can be directly adapted to the upgrade and transformation of the existing double-disc power trowel without making major changes to the main structure of the equipment, thus saving resources. Attached Figure Description

[0014] Figure 1 This is the system principle block diagram of the present invention; Figure 2 This is a schematic diagram of the overall power trowel of the present invention; Figure 3 , 4 Figure 5 is a schematic diagram of the attitude sensor of the present invention; Figure 6 This is a schematic diagram of the controller in an embodiment of the present invention; Figure 7 , 8 This is a schematic diagram of the PLC and the execution drive module in this invention; Reference numerals in the attached diagram: 1: Gyroscope; 2: LiDAR; 3: Tilt sensor; 4: Pressure sensor; 5: Control feedback integrated unit; 6: AGV controller; 7: Embedded computer; 8: Execution drive integrated unit; 9: Electric actuator driver; 10: PLC module; 11: Left disk blade angle adjustment actuator; 12: Right disk left and right tilt angle adjustment actuator; 13: Right disk blade angle adjustment actuator; 14: Right disk front and rear tilt angle adjustment actuator; 15: Left and right disk drive motors; 16: Left disk front and rear tilt angle adjustment actuator. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] like Figures 1 to 8 As shown, the present invention provides a posture control system for a dual-disc power trowel based on PID control; As an embodiment of this application, it includes: The attitude sensing module is used to collect the trowel tilt angle, trowel contact pressure and overall machine motion attitude parameters of the dual-disc power trowel in real time. The motion attitude parameters include travel speed, displacement and travel angle. The PID controller module is preset with target posture parameters of the power trowel, receives the actual posture parameters collected by the posture sensing module, calculates the deviation between the actual posture parameters and the target posture parameters, and outputs a control signal through proportional-integral-derivative collaborative operation. The execution drive module, electrically connected to the PID controller module, includes a motor that drives the dual shovels to rotate and an electric push rod that adjusts the tilt angle of the shovels, for adjusting the speed and tilt angle of the dual shovels according to the control signal; The feedback adjustment module is used to collect the attitude parameters of the power trowel after the execution drive module has adjusted them in real time, and feed them back to the PID controller module to form a closed-loop control circuit.

[0017] As a second embodiment of this application, it is implemented based on the first embodiment, except that this embodiment includes: The attitude sensing module is used to collect the trowel tilt angle, trowel contact pressure and overall machine motion attitude parameters of the dual-disc power trowel in real time. The motion attitude parameters include travel speed, displacement and travel angle. An angle sensor 3 is installed at the rotating shaft seat of the dual trowels to independently collect the real-time tilt angle of each trowel. Traditional trowels use an open-loop control mode, which cannot detect changes in the tilt angle of the trowels in real time. Local bumps or depressions on the ground can also cause random and slight deviations in the tilt angle of the dual trowels. If such deviations cannot be captured in time, they will quickly accumulate into problems such as equipment trajectory deviation and unqualified troweling effect on one side. Pressure sensor 4 is installed at the center of each blade of the trowel to collect the contact pressure data between the trowel and the concrete surface in real time. On the one hand, the measured data can directly quantify the difference in concrete paving density and ground flatness. The system can determine the type and magnitude of external disturbances by comparing the pressure of the two sides of the trowel and analyzing the pressure distribution of multiple blades on a single trowel. On the other hand, the pressure data can help verify the rationality of the adjustment of the trowel tilt angle and rotation speed. A gyroscope 1 is installed on the central axis above the vehicle body to collect the rotation angle of the vehicle body relative to the preset forward direction in real time. In the traditional open-loop control mode, it is impossible to collect the deviation of the vehicle body's travel angle in real time. It can only rely on the operator to observe and manually correct it. However, as the construction distance increases, the slight angle deviation will quickly accumulate into a huge trajectory error. Using LiDAR2 to collect real-time data on the travel speed and displacement of the power trowel, the construction quality of the dual-disc power trowel is strongly correlated with its travel speed and working displacement. If the driving speed is too fast, the number of troweling operations per unit area will be insufficient, resulting in substandard compaction and flatness of the concrete surface. Conversely, if the speed is too slow, the concrete surface will be over-troweled and excessively coated, affecting the quality of the finished product. Displacement data is the core basis for determining whether the construction scope and work progress have reached the preset construction boundary. Traditional open-loop control cannot accurately collect real-time speed and displacement, and can only rely on manual estimation, which is very easy to cause problems such as construction omissions and repeated work. The PID controller module synchronously uploads the raw data collected by the attitude sensing module to the control feedback integration unit 5 of the PID controller module via a high-speed serial communication protocol. The control feedback integration unit 5 serves as the physical integration carrier of the PID controller module, undertaking the unified access function of all sensor data, providing standardized hardware interfaces and communication channels for the four types of sensors, and completing the initial timing calibration of multi-sensor data to ensure that the tilt angle, pressure, travel angle, and velocity displacement data within the same acquisition cycle correspond one-to-one. The control feedback integration unit 5 distributes the raw data that has completed timing synchronization to the embedded computer 7 of the PID controller module through the internal bus. The embedded computer 7 first performs data preprocessing, including filtering and noise reduction, and also needs to remove abnormal jump data caused by vibration and electromagnetic interference at the construction site, and finally outputs high-quality and highly reliable actual attitude parameters. Subsequently, the embedded computer 7 retrieves the pre-stored target attitude parameters, compares the pre-processed actual attitude parameters with the target parameters dimension by dimension, and calculates five core deviation values: disk tilt angle deviation, contact pressure deviation, vehicle travel angle deviation, travel speed deviation, and displacement deviation. It also calculates the cumulative integral value of the deviation from system startup to the current moment and the real-time rate of change of the deviation. Based on the calculated deviation data, the embedded computer 7 starts the PID calculation and processing unit, according to the formula... Complete the basic coordinated calculations of proportional, integral, and derivative operations to generate basic control signals; Where u(t) is the output control signal of the controller at time t, K P K is the proportionality coefficient. I K is the integral coefficient. D Here are the differential coefficients, and e(t) is the deviation between the target attitude parameters and the actual attitude parameters at the current moment. At the same time, the embedded computer 7 synchronously starts the parameter self-tuning unit to complete the dynamic adaptation and correction of the control signal. The specific operation is as follows: Based on the travel angle data collected by gyroscope 1 and the velocity and displacement data collected by lidar 2, the current state of the polishing machine is determined according to the following rules: If the rate of change of the vehicle's yaw angle collected by gyroscope 1 is ≤A1 and the lateral displacement deviation collected by lidar 2 is <B1, and this continues for more than three collection cycles, then it is judged to be in a linear motion state. If the rate of change of the vehicle's yaw angle collected by gyroscope 1 is ∈ (A1, A2], and the fluctuation of the turning radius collected by lidar 2 is ≤ C1, and this continues for more than two collection cycles, then it is judged to be in arc motion state. If the rate of change of vehicle yaw angle collected by gyroscope 1 is greater than A2, and the lateral displacement deviation collected by lidar 2 is less than B1, then it is determined to be a steering motion state. Where A1 and A2 are the angular change rate thresholds, B1 is the displacement threshold, and C1 is the fluctuation threshold; The embedded computer 7 pre-stores the initial values ​​of the three coefficients of the PID controller, namely K. P0 K I0 K D0 The three values ​​are dynamically adjusted based on the current state of the power trowel: If the motion is linear, the proportionality coefficient K P Adjust to K P0 The value is 1.2-1.5 times the preset threshold. When the absolute value of the deviation is greater than the preset threshold, the upper limit of 1.5 times is used to achieve rapid correction. When the absolute value of the deviation is less than or equal to the preset threshold, the lower limit of 1.2 times is used to avoid overshoot. Integral coefficient K I Adjust to K I0 The value is 0.3-0.6 times the preset threshold, and is only enabled when the absolute value of the deviation is ≤ the preset threshold to eliminate steady-state error. When the absolute value of the deviation is > the preset threshold, the integral term is turned off to avoid integral saturation. Differential coefficient K D Adjust to K D0 1.0-1.3 times that, only small-amplitude oscillation suppression; If the motion is in an arc, the proportionality coefficient K P Adjust to K P0 0.6-0.9 times, to avoid arc jitter caused by over-correction; Integral coefficient K I Adjust to K I0 The value is 0-0.2 times the value, and is only activated when there is a continuous deviation in the turning radius to avoid trajectory deformation caused by integral accumulation; Differential coefficient K D Adjust to K D0 The value is 1.2-1.6 times that of the yaw angle change rate and deviation change rate to suppress trajectory deviation in advance. The greater the centrifugal force and the smaller the turning radius, the higher the value should be. If it is a steering motion state, the proportional coefficient K P Differential coefficient K D All remain at the initial value K P0 K D0 0.8-1.2 times, integral coefficient K I Adjust to 0; After completing the dynamic adaptation and correction of the control signal, it is converted into a digital control instruction that adapts to the current working condition. The embedded computer 7 then sends the final digital control instruction to the AGV controller 6 in the same unit through the internal bus of the control feedback integration unit 5. The AGV controller 6 strictly compares the digital control instructions output by the embedded computer 7 with the threshold of the actuator, and eliminates abnormal instructions that exceed the execution limit of the equipment. If the verification is successful, the AGV controller 6 converts the digital control instructions output by the embedded computer 7 into standard control instructions that can be directly recognized by the execution drive module, including PWM signals for speed adjustment of the wiping motor and position control signals for extension and retraction of the electric push rod, thus completing the standardization conversion of control instructions and preparing for subsequent attitude adjustment of the execution end. The control feedback integration unit 5 serves as the communication hub for the entire system, transmitting the verified standard control commands to the execution drive module in real time through the AGV controller 6.

[0018] The execution drive module, electrically connected to the PID controller module, includes a motor that drives the dual shovels to rotate and an electric push rod that adjusts the tilt angle of the shovels, for adjusting the speed and tilt angle of the dual shovels according to the control signal; The standard control commands obtained from the PID controller module are transmitted to the execution drive integration unit 8 of the execution drive module. This unit serves as the physical carrier of the entire execution drive module. It has a built-in PLC module 10 and electric actuator 9, and undertakes the unified access function of all control commands. It provides a standardized communication interface for the upstream PID controller module and completes the hardware-level timing calibration of the control commands to ensure that the timing of multiple action commands such as wiping speed adjustment, tilt angle adjustment and blade angle adjustment is completely synchronized. Subsequently, the execution drive integration unit 8 will complete the timing synchronization control instructions and directly forward them to the PLC module 10, which is directly connected to the upstream embedded computer 7 and the downstream electric actuator driver 9. The PLC module 10 first strictly compares the received control commands with the rated operating boundary of the equipment to eliminate abnormal commands that exceed the range, so as to avoid mechanical damage. Then, it decomposes the control command into two types of independent and time-coordinated execution sub-commands: one type is the push rod position control command for the trowel tilt angle and trowel blade angle, and the other type is the motor speed control command for the rotation of the two trowels, thus completing the splitting of the command and channel allocation. According to the received control commands, the electric actuator 9 synchronously drives each electric actuator in the corresponding channel to complete the accurate extension and retraction movements as instructed by the control commands: First, the overall tilt angle correction action of the squeegee is performed: the left squeegee front and rear tilt angle adjustment push rod 16 and the right squeegee front and rear tilt angle adjustment push rod 14 adjust the front and rear pitch angles of the left and right squeegees respectively, and the right squeegee left and right tilt angle adjustment push rod 12 adjusts the left and right tilt angles of the right squeegee. The three push rods work together to achieve independent adjustment of the tilt angle of the two squeegees, accurately responding to the correction command output by the PID controller for the squeegee tilt angle deviation collected by the tilt angle sensor 3 and the vehicle travel angle deviation collected by the gyroscope 1. Synchronously execute the trowel blade angle adaptation action: the left disk blade angle adjustment push rod 11 and the right disk blade angle adjustment push rod 13 independently adjust the cutting angle of the trowel blades on the left and right disks respectively, responding to the compensation command output by the PID controller disturbance compensation unit for uneven contact pressure of the trowel disk and abnormal flatness of the ground collected by the pressure sensor 4, adapting to complex construction conditions, and ensuring uniform troweling force across the entire surface. While each electric actuator executes control commands, the PLC module 10 directly sends the separated motor speed control commands to the left and right disk drive motors 15. The PLC module 10 adjusts the output power of the motors by outputting PWM speed regulation signals to achieve stepless speed regulation of the wiping disk speed. At the same time, it can independently adjust the speed difference between the left and right wiping disks, accurately responding to the control commands output by the PID controller for the travel speed deviation collected by the lidar 2 and the travel angle deviation collected by the gyroscope 1. In conjunction with the wiping disk tilt angle adjustment, it completes the correction of the wiping machine's travel speed, the correction of the travel direction, and the smooth switching between straight, arc, and steering motion states.

[0019] In the feedback adjustment module, as all actuators complete their commands, the position sensors built into each electric push rod and the speed sensors built into the left and right disk drive motors 15 transmit real-time push rod extension and extension data and motor speed data back to the PLC module 10 through the execution drive integration unit 8. These data are then synchronously uploaded to the front-end PID controller module and the feedback adjustment module. This forms a linkage verification with the real-time attitude data collected by the attitude perception module, verifying the effect of the attitude adjustment. At the same time, it provides feedback for the PID calculation in the next acquisition cycle, completing the complete closed loop of the entire control process.

[0020] Some of the data in the above formulas are numerical calculations with dimensions removed, and the contents not described in detail in this specification are all prior art known to those skilled in the art.

[0021] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A posture control system for a dual-disc power trowel based on PID control, characterized in that, include: The attitude sensing module is used to collect the trowel tilt angle, trowel contact pressure and overall machine motion attitude parameters of the dual-disc power trowel in real time. The motion attitude parameters include travel speed, displacement and travel angle. The PID controller module is preset with target posture parameters of the power trowel, receives the actual posture parameters collected by the posture sensing module, calculates the deviation between the actual posture parameters and the target posture parameters, and outputs a control signal through proportional-integral-derivative collaborative operation. The execution drive module, electrically connected to the PID controller module, includes a motor that drives the dual shovels to rotate and an electric push rod that adjusts the tilt angle of the shovels, for adjusting the speed and tilt angle of the dual shovels according to the control signal; The feedback adjustment module is used to collect the attitude parameters of the power trowel after the execution drive module has adjusted them in real time, and feed them back to the PID controller module to form a closed-loop control circuit.

2. The attitude control system for a dual-disc power trowel based on PID control according to claim 1, characterized in that, The attitude sensing module includes a tilt sensor, a pressure sensor, a gyroscope, and a lidar.

3. The attitude control system for a dual-disc power trowel based on PID control according to claim 1, characterized in that, The specific formula for the proportional-integral-differential co-operation is as follows: Where u(t) is the output control signal of the controller at time t, and K P K is the proportionality coefficient. I K is the integral coefficient. D Here, e(t) is the differential coefficient, and e(t) is the deviation between the target attitude parameters and the actual attitude parameters at the current moment.

4. The attitude control system for a dual-disc power trowel based on PID control according to claim 1, characterized in that, The specific operations for dynamically adapting and correcting control signals are as follows: The current state of the polishing machine is determined by the travel angle data collected by the gyroscope and the speed and displacement data collected by the lidar. The state is one of linear motion, arc motion, or turning motion. Based on the initial values ​​K of the three pre-stored PID coefficients P0 K I0 K D0 The three values ​​are dynamically adjusted based on the current state of the power trowel.

5. The attitude control system for a dual-disc power trowel based on PID control according to claim 4, characterized in that, The specific rules for determining the current state of a power trowel are as follows: If the rate of change of the vehicle's yaw angle collected by the gyroscope is ≤A1 and the lateral displacement deviation collected by the lidar is <B1, and this continues for more than three collection cycles, then it is judged to be in a linear motion state. If the yaw angle change rate of the vehicle body collected by the gyroscope is ∈(A1,A2], and the turning radius fluctuation collected by the lidar is ≤C1, and this continues for more than two collection cycles, then it is judged to be a curved motion state. If the rate of change of the vehicle's yaw angle collected by the gyroscope is greater than A2, and the lateral displacement deviation collected by the lidar is less than B1, then it is determined to be a steering motion state. Where A1 and A2 are the angular change rate thresholds, B1 is the displacement threshold, and C1 is the fluctuation threshold.

6. The attitude control system for a dual-disc power trowel based on PID control according to claim 4, characterized in that, The specific steps for dynamically adjusting these three values ​​based on the current state of the power trowel are as follows: If the motion is linear, the proportionality coefficient K P Adjust to K P0 1.2-1.5 times, integral coefficient K I Adjust to K I0 0.3-0.6 times, differential coefficient K D Adjust to K D0 1.0-1.3 times; If the motion is in an arc, the proportionality coefficient K P Adjust to K P0 0.6-0.9 times, integral coefficient K I Adjust to K I0 0-0.2 times, differential coefficient K D Adjust to K D0 1.2-1.6 times; If it is a steering motion state, the proportional coefficient K P Differential coefficient K D All remain at the initial value K P0 K D0 0.8-1.2 times, integral coefficient K I Adjust to 0.

7. The attitude control system for a dual-disc power trowel based on PID control according to claim 6, characterized in that, When in a linear motion state, if the absolute value of the deviation is greater than the preset threshold, then the proportional coefficient K... P Take the upper limit of 1.5 times; when the absolute value of the deviation is less than or equal to the preset threshold, the proportional coefficient K is... P Take the lower limit of 1.2 times.

8. The attitude control system for a dual-disc power trowel based on PID control according to claim 1, characterized in that, The rotational speed of the dual shovels is adjusted by regulating the output power of the motor, and the tilt angle of the shovels is adjusted by the extension and retraction of the electric push rod. Furthermore, the tilt angle adjustments of the dual shovels are performed independently.

9. The attitude control system for a dual-disc power trowel based on PID control according to claim 1, characterized in that, The feedback cycle of the feedback adjustment module is consistent with the acquisition cycle of the attitude perception module.

Images