CN107544574A - Crusing robot wheel speed control method based on embedded-type ARM and combined filter - Google Patents
Crusing robot wheel speed control method based on embedded-type ARM and combined filter Download PDFInfo
- Publication number
- CN107544574A CN107544574A CN201710801764.4A CN201710801764A CN107544574A CN 107544574 A CN107544574 A CN 107544574A CN 201710801764 A CN201710801764 A CN 201710801764A CN 107544574 A CN107544574 A CN 107544574A
- Authority
- CN
- China
- Prior art keywords
- wheel speed
- filtering
- signal
- crusing robot
- embedded
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The present invention relates to a kind of crusing robot wheel speed control method based on embedded-type ARM and combined filter, this method gathers wheel speed live signal, wheel speed feedback signal is obtained after being filtered to the wheel speed signal, the double PID control strategies combined based on the wheel speed feedback signal using pid algorithm inside incremental timestamp algorithm and motor driver are controlled to crusing robot wheel speed, and the LC that the filtering of use includes hardware strap voltage conversion is filtered, 8 times that STM32F103 controllers carry are captured and filtered and adjacent thresholds tracking filter.Compared with prior art, the present invention has the advantages that crusing robot wheel speed control accuracy can be made to improve a lot before relatively filtering, be stable.
Description
Technical field
The present invention relates to Study of Intelligent Robot Control technical field, is filtered more particularly, to one kind based on embedded-type ARM and combination
The crusing robot wheel speed control method of ripple.
Background technology
Intelligent inspection robot application field is relatively broad, can be seen that it has been widely used for from domestic and international present Research
Transformer station, campus, factory, military project, ship etc. are related to safe each place, and its importance is had some idea of, and control system is set
Meter is the premise for realizing intelligent patrol detection.
Because inspection place is fixed, more crusing robot is advanced using constant speed, and Starting mode uses the driving of in the market
Control program is started built in device, more inconvenience be present, and such as robustness is poor.And in the process of actually research and development robot
Middle discovery, is fed back using integrated drivers velocity, and frequency measurement has larger interference.Although it can be measured by oscillograph
Frequency feedback value corresponding to speed, but clutter is more, and controller can not be handled at all, so signal filtering is particularly important.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind is based on embedded-type ARM
With the crusing robot wheel speed control method of combined filter.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of crusing robot wheel speed control method based on embedded-type ARM and combined filter, this method collection wheel speed are real
When signal, after being filtered to the wheel speed signal obtain wheel speed feedback signal, increment is used based on the wheel speed feedback signal
Double PID control strategies that formula pid control algorithm is combined with pid algorithm inside motor driver are controlled to crusing robot wheel speed
System.
Preferably, in double PID control strategies, pid algorithm is responsible for motor as inner ring PID inside motor driver
Startup, to motor speed carry out coarse adjustment, incremental timestamp algorithm be used as outer shroud PID, to motor speed progress accurate adjustment
Section, form closed-loop drive.
Preferably, the wheel speed live signal is gathered by three-phase hall device, and the wheel speed live signal is converted into frequency
Rate exports.
Preferably, the filtering carried out to the wheel speed signal includes hardware filtering and software filtering.
Preferably, the hardware filtering is realized by LC wave filters.
Preferably, the software filtering includes capture filtering and threshold value tracking filter, wherein,
It is described capture filtering be specially：The frequency acquisition pin of embedded-type ARM controller obtains the letter after hardware filtering
Number, filtering is realized using 8 repeated acquisitions, obtains current collection signal frequency measured value；
The threshold value tracking filter is specially：By present sample signal frequency measured value and historical signal frequency measurement it
Between difference absolute value compared with given filtering threshold, when the absolute value is more than given filtering threshold, believed using history
Otherwise number wheel speed value corresponding to frequency measurement, uses present sample signal frequency measured value to update as wheel speed feedback signal
Historical signal frequency measurement, and using wheel speed value corresponding to present sample signal frequency measured value as wheel speed feedback signal.
Compared with prior art, the invention has the advantages that：
(1) double PID controls that the present invention is combined using incremental timestamp algorithm with pid algorithm inside motor driver
Strategy, accurate adjustment can be carried out to crusing robot wheel speed, effectively improve control accuracy and stability.
(2) in double PID control strategies of the invention, inner ring PID control is that driver carries software PID, and outer shroud PID is can
The increment type PID of parameter is adjusted, inner ring PID is responsible for the startup of motor, but does not do accurate speed governing closed loop, only by specifying dutycycle
PWM value, coarse adjustment motor speed, outer shroud PID then be responsible for wheel speed accurately control, tested the speed using three-phase hall device, form
Closed-Loop Speed Governing System, improve control accuracy.
(3) the combined type filtering mode that filtering of the invention is combined using hardware filtering and software filtering, is effectively filtered
Except noise jamming, improve control accuracy.
(4) hardware filtering of the present invention uses LC wave filters, simple in construction, and software filtering uses embedded-type ARM controller
Capture filtering and the combination of threshold value tracking filter inside STM32F103, can be by PID waveform adjustments to postfitted orbit effect.
(5) Position Form PID is compared, the increment type PID that the present invention uses is cumulative with that need not be done to all errors of history, only
A few quantity of state such as 1 moment wheel speed error and preceding 2 moment robot wheel speed deviation before crusing robot, section need to be recorded
The advantages of saving a large amount of register spaces.
Brief description of the drawings
Fig. 1 is the principle schematic of the present invention；
Fig. 2 is LC hardware filtering schematic diagrams；
Fig. 3 is STM32F103 frequency acquisition flow charts；
Fig. 4 is robot incremental timestamp algorithm flow chart.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
The present embodiment provides a kind of crusing robot wheel speed control method based on embedded-type ARM and combined filter, the party
Method is realized using STM32F103 embedded-type ARM series cortex-M3 core controllers, gathers wheel speed live signal, and wheel speed is believed
Wheel speed feedback signal is obtained after number being filtered, is driven based on wheel speed feedback signal using incremental timestamp algorithm and motor
Double PID control strategies that pid algorithm combines inside device are controlled to crusing robot wheel speed.The schematic diagram of the above method is as schemed
Shown in 1.
In double PID control strategies of some embodiments, pid algorithm is responsible for electricity as inner ring PID inside motor driver
The startup of machine, but accurate speed governing closed loop is not done, only by specifying the PWM value of dutycycle, coarse adjustment is carried out to motor speed, increased
Amount formula pid control algorithm carries out accurate adjustment section to motor speed, forms closed-loop drive as outer shroud PID.
In certain embodiments, wheel speed live signal is gathered by three-phase hall device, and the wheel speed live signal is changed
For rate-adaptive pacemaker, corresponding wheel speed is calculated by the reduction formula between wheel speed and electric machine frequency.Three-phase Hall tachogenerator
It is integrated in three-phase brushless motor driver in same device, although having done ground connection isolation, in electric motor starting, motor is made an uproar
Sound tests the speed to hall device and still suffers from larger interference.Therefore, the present invention adds in the theory diagram of robot control system
One compound filter link filters out to system noise, finally converts frequency signals into rate signal and is controlled as outer shroud PID
Feedback quantity processed, robot wheel speed is adjusted in real time, realize accurate control.
In certain embodiments, the filtering carried out to wheel speed signal includes hardware filtering and software filtering.
In certain embodiments, hardware filtering is realized by LC wave filters, is used as High frequency filter and level conversion.Such as Fig. 2 institutes
It is shown as the wherein traffic filter hardware circuit principle G- Design all the way of LC wave filters.Circuit front-end part is LC Passive low pass
Ripple device, rear end are voltage conversion circuit.The circuit can filter out high frequency spurs signal caused by a large amount of motors rotations, if do not had
There is this hardware filtering that the signal that STM32F103 is gathered will be caused disorderly and unsystematic, PID regulations can not be carried out.Level shifting circuit
Input+5V signals are converted to by+3.3V square-wave signals using S8050 pasters triode, are then connected to the square-wave signal
STM32F103 controller frequency acquisition pins.
In certain embodiments, software filtering includes capture filtering and threshold value tracking filter.In software section, wave filter is set
At two：1) 8 repeated samplings that STM32 trapped insides carry；2) threshold value tracking filter method.Both combine can be by PID
Waveform adjustment is to postfitted orbit effect.
Capturing filtering is specially：The frequency acquisition pin of embedded-type ARM controller obtains the signal after hardware filtering, adopts
Filtering is realized with 8 repeated acquisitions, obtains current collection signal frequency measured value.It is illustrated in figure 3 STM32F103 frequency acquisitions
Flow chart.Frequency measurement uses STM32F103 controller timer internal acquisition modes, defeated by capturing Hall sensor module
Time span carrys out the Cycle Length of measurement signal between the square-wave signal rising edge and trailing edge that go out, and the pulse time length is multiplied
Time span with 2 gained is the cycle of measured signal.First by STM32F103 timers peripheral clock and corresponding signal institute
The I/O mouth clocks connect enable, and set the pin as drop-down, rising edge acquisition mode.The sampling clock of capture is set to initial
The clock frequency of change, filter patterns are arranged to 8 filtering, once rising edge is captured, and continuous 8 times sample high level, then
Think to capture a rising edge, the count value for recording now timer is CAPTURE_UPVAL.Then timer capture is set
Pattern is trailing edge acquisition mode, waits the arrival of trailing edge interrupt signal.After trailing edge is captured, now timer is recorded
Count value CAPTURE_DOWNVAL.The difference of count value is multiplied by the total cycle sum of counter with counting spilling number twice, as believes
Number half cycle length, by conversion i.e. can obtain signal frequency and wheel speed value.
The 8 repeated sampling wave filters carried inside STM32F103 need to be configured by TIMx_CCMR1 registers,
The register is 16.When the register is arranged to input capture pattern, the 4th~7 is IC1F [3:0] position, input is represented
Capture 1 filter parameter and position is set.ICF1[3:0] position shares 4, there is 16 kinds of filtering modes.To improve sample frequency, set
ICF1[3:0]=0011, then sample frequency is system initialization clock frequency, when the continuous sampling of internal sample wave filter is to 8 times
High level just thinks an efficiently sampling.
Threshold value tracking filter is specially：Will be poor between present sample signal frequency measured value and historical signal frequency measurement
The absolute value of value gives filtering threshold compared with given filtering threshold, when absolute value is more than, and is surveyed using historical signal frequency
Otherwise wheel speed value corresponding to value, updates historical signal as wheel speed feedback signal using present sample signal frequency measured value
Frequency measurement, and using wheel speed value corresponding to present sample signal frequency measured value as wheel speed feedback signal.
The present invention uses incremental timestamp algorithm, and compared to Position Form PID, increment type PID has without owning to history
Error do it is cumulative, only need to record the minority such as 1 moment wheel speed error and preceding 2 moment robot wheel speed deviation before crusing robot
Several quantity of states, the advantages of saving a large amount of register spaces.Its output is previous moment PWM comparators output valve and current time
PWM comparator output increment sums.
As shown in figure 4, it is crusing robot incremental timestamp algorithm flow chart.Increment type PID is patrolling robot control
Applied in system, it is necessary first to by the parameter definition needed in pid control algorithm in structure, programming can be made simple
Clean, specification.Then corresponding PID structures variable is defined, and initial value is assigned to the structure variable.According to real-time control command more
New wheel speed setting value, while according to Hall feedback frequency measurement updaue wheel speed value of feedback.Further according to robot wheel speed setting value and
The speed feedback value measured by Hall sensor calculates current given and feedback deviation value.If deviation is more than predetermined deviation
Threshold value is adjusted, then PID regulations are carried out to robot, and threshold value restriction and history error update are carried out to output, finally output meter
The PWM value of gained dutycycle is calculated to motor driver；Otherwise pid value calculating need not be carried out, keeps the PWM value of last dutycycle
Output.Circulation performs PID regulations, until shutting down.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (6)
1. a kind of crusing robot wheel speed control method based on embedded-type ARM and combined filter, it is characterised in that this method is adopted
Collect wheel speed live signal, wheel speed feedback signal is obtained after being filtered to the wheel speed signal, based on the wheel speed feedback signal
The double PID control strategies combined using incremental timestamp algorithm with pid algorithm inside motor driver are to crusing robot wheel
Speed is controlled.
2. the crusing robot wheel speed control method according to claim 1 based on embedded-type ARM and combined filter, it is special
Sign is, in double PID control strategies, pid algorithm is right as inner ring PID, the startup of responsible motor inside motor driver
Motor speed carries out coarse adjustment, and incremental timestamp algorithm carries out accurate adjustment section to motor speed, form closed loop as outer shroud PID
Speed governing.
3. the crusing robot wheel speed control method according to claim 1 based on embedded-type ARM and combined filter, it is special
Sign is that the wheel speed live signal is gathered by three-phase hall device, and the wheel speed live signal is converted into rate-adaptive pacemaker.
4. the crusing robot wheel speed control method according to claim 1 based on embedded-type ARM and combined filter, it is special
Sign is that the filtering carried out to the wheel speed signal includes hardware filtering and software filtering.
5. the crusing robot wheel speed control method according to claim 4 based on embedded-type ARM and combined filter, it is special
Sign is that the hardware filtering is realized by LC wave filters.
6. the crusing robot wheel speed control method according to claim 4 based on embedded-type ARM and combined filter, it is special
Sign is that the software filtering includes capture filtering and threshold value tracking filter, wherein,
It is described capture filtering be specially：The frequency acquisition pin of embedded-type ARM controller obtains the signal after hardware filtering, adopts
Filtering is realized with 8 repeated acquisitions, obtains current collection signal frequency measured value；
The threshold value tracking filter is specially：Will be poor between present sample signal frequency measured value and historical signal frequency measurement
The absolute value of value gives filtering threshold compared with given filtering threshold, when the absolute value is more than, using historical signal frequency
Otherwise wheel speed value corresponding to rate measured value, uses present sample signal frequency measured value more new historical as wheel speed feedback signal
Signal frequency measured value, and using wheel speed value corresponding to present sample signal frequency measured value as wheel speed feedback signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710801764.4A CN107544574B (en) | 2017-09-07 | 2017-09-07 | Inspection robot wheel speed control method based on embedded ARM and combined filtering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710801764.4A CN107544574B (en) | 2017-09-07 | 2017-09-07 | Inspection robot wheel speed control method based on embedded ARM and combined filtering |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107544574A true CN107544574A (en) | 2018-01-05 |
| CN107544574B CN107544574B (en) | 2020-12-22 |
Family
ID=60958587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710801764.4A Active CN107544574B (en) | 2017-09-07 | 2017-09-07 | Inspection robot wheel speed control method based on embedded ARM and combined filtering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107544574B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040153173A1 (en) * | 2003-02-03 | 2004-08-05 | Chang Pyung Hun | Method for tuning PID controllers applicable to nonlinear systems |
| CN102269995A (en) * | 2011-06-22 | 2011-12-07 | 重庆大学 | Variable structure control method of wheeled mobile robot |
| CN102857165A (en) * | 2012-09-17 | 2013-01-02 | 天津工业大学 | Current sensor based motor-driven carrier control method |
| CN104811106A (en) * | 2015-04-23 | 2015-07-29 | 深圳怡化电脑股份有限公司 | Method and system for closed-loop control over direct-current motor |
| CN107132839A (en) * | 2017-03-16 | 2017-09-05 | 浙江工业大学 | A kind of single-chip microcomputer robot line navigation method |
-
2017
- 2017-09-07 CN CN201710801764.4A patent/CN107544574B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040153173A1 (en) * | 2003-02-03 | 2004-08-05 | Chang Pyung Hun | Method for tuning PID controllers applicable to nonlinear systems |
| CN102269995A (en) * | 2011-06-22 | 2011-12-07 | 重庆大学 | Variable structure control method of wheeled mobile robot |
| CN102857165A (en) * | 2012-09-17 | 2013-01-02 | 天津工业大学 | Current sensor based motor-driven carrier control method |
| CN104811106A (en) * | 2015-04-23 | 2015-07-29 | 深圳怡化电脑股份有限公司 | Method and system for closed-loop control over direct-current motor |
| CN107132839A (en) * | 2017-03-16 | 2017-09-05 | 浙江工业大学 | A kind of single-chip microcomputer robot line navigation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107544574B (en) | 2020-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106292664A (en) | A kind of Intelligent Mobile Robot navigation control system and method | |
| CN101359889B (en) | Rotation position control method and apparatus for switching reluctance motor | |
| CN102957369A (en) | Brushless DC (Direct Current) motor speed regulation device on basis of DSP (Digital Signal Processor) | |
| CN104950690A (en) | Semi-physical simulation method of inertially stabilized platform control system | |
| CN204203725U (en) | A kind of for servomotor position control system with high accuracy | |
| CN102291062A (en) | High-accuracy multi-motor control method based on FPGA (Field Programmable Gate Array) | |
| CN102661204A (en) | Method and system for intelligently controlling accelerator of automatic-drive vehicle | |
| CN102263536A (en) | Stepping motor subdivided driving device for current vector constant amplitude control | |
| CN103472730A (en) | Double-frame control moment gyro high-precision frame rate servo system based on harmonic reducer torsional rigidity hysteresis model | |
| CN104317253A (en) | System method for servo motor position control | |
| CN101513545A (en) | Multi-mode ventricle auxiliary blood pump controller | |
| CN103516279A (en) | Permanent magnet synchronous motor control chip based on FPGA | |
| CN109455219A (en) | A kind of wire-controlled steering system steering wheel with limiting device and limit method | |
| CN101729013A (en) | IP core of position sensor-free and brushless direct-current motor | |
| CN103308707A (en) | Self-adaptation rotating speed measurement method | |
| CN103604951B (en) | The GES measuring method and its TT＆C system of a kind of vehicle speed sensor | |
| CN109617479A (en) | A kind of low-voltage, high-current servo-driver | |
| CN112650112A (en) | Steering engine control method | |
| CN105490461A (en) | Corner detection device and detection method for motor | |
| CN107544574A (en) | Crusing robot wheel speed control method based on embedded-type ARM and combined filter | |
| CN109062033B (en) | Parameter self-tuning method of PID system | |
| CN105134392A (en) | Gasoline engine rotation speed control system for small unmanned helicopter and control method of gasoline engine rotation speed control system for small unmanned helicopter | |
| CN207966027U (en) | A kind of modern agriculture intelligent inspection system | |
| CN206072476U (en) | A kind of valve control device adjusted for fluid flow | |
| CN106411211B (en) | A kind of absolute position signal scaling method of mixed photoelectric encoder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |