CN110333652A - The excessively curved control method of vehicle crusing robot - Google Patents
The excessively curved control method of vehicle crusing robot Download PDFInfo
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- CN110333652A CN110333652A CN201910335275.3A CN201910335275A CN110333652A CN 110333652 A CN110333652 A CN 110333652A CN 201910335275 A CN201910335275 A CN 201910335275A CN 110333652 A CN110333652 A CN 110333652A
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- 230000033228 biological regulation Effects 0.000 claims abstract description 28
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- 230000004069 differentiation Effects 0.000 claims description 10
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The present invention relates to a kind of crusing robot control technology fields, are a kind of excessively curved control methods of vehicle crusing robot, comprising the following steps: the first step obtains departure of the vehicle crusing robot vehicle body on runway under current location；Second step angle regulating unit calculates output order according to departure, and the PWM drive signal of control deflecting roller is generated according to output order；Third step speed regulation unit is instructed according to the output order calculating speed of angle regulating unit, and the PWM drive signal of control driving wheel is generated according to speed command.The present invention is not under the premise of adding hardware device, realize the self adaptive control of angle regulating unit, and the excessively curved control of the coordination between angle regulating unit and speed regulation unit, it is curved to ensure that vehicle crusing robot can be stablized under different polling path bend curvature, it is suppressed that the excessively curved sideslip phenomenon of vehicle crusing robot.
Description
Technical field
The present invention relates to a kind of crusing robot control technology fields, are a kind of excessively curved controlling parties of vehicle crusing robot
Method.
Background technique
As the application scale of robot constantly expands, robot replaces artificial trend also all the more obvious, vehicle inspection
The advantages that robot is small in size with its, intelligentized control method, high-efficient, high reliablity, reduces artificial live-working safety hidden danger,
As unattended, automatic detecting the pivotal player of substation, all the more it is widely applied in substation.
It is biggish in the Curvature varying range of vehicle crusing robot polling path when vehicle crusing robot carries out inspection
In the case of, fixed vehicle crusing robot steering engine control parameter is often difficult to adapt to all road conditions, and steering engine PID controller
Differentiation element also easily introduce noise jamming, in addition, in the turning of vehicle crusing robot, if vehicle crusing robot
Two rear-guard motors do not take differential control measure, and vehicle crusing robot is easy to that sideslip phenomenon occurs.
It is existing to be directed to adjustment control method of the vehicle crusing robot under different bend curvature road conditions, mostly by row
It sails path to optimize, proposes corresponding path smooth planning algorithm, to improve its stable locomotivity or car-like robots
The differential parameter of rear-guard bi-motor adjusting is optimized；There are calculation formula complexity for the above method, computationally intensive, also do not have
The problem of course changing control of the differential parameter of rear-guard bi-motor and steering engine is mutually coordinated, and the vehicle machine under more complicated road conditions
Device people still has the relatively narrow problem of noise jamming, parameter adaptation range.
Summary of the invention
The present invention provides a kind of excessively curved control method of vehicle crusing robot, overcome the above-mentioned prior art no
Foot, can effectively solve in the excessively curved control method of existing vehicle crusing robot that adjust cannot phase there are angular adjustment and speed
The problem of cooperating, causing curved sideslip.
The technical scheme is that realized by following measures: a kind of excessively curved controlling party of vehicle crusing robot
Method, comprising the following steps:
It is inclined on runway to obtain vehicle crusing robot vehicle body under current location according to the central value of runway for the first step
Residual quantity Road_error；
Second step, angle regulating unit calculate output order according to departure Road_error, and raw according to output order
At the PWM drive signal of control deflecting roller, wherein angle regulating unit is used to control the deflecting roller of vehicle crusing robot；
Third step, speed regulation unit are instructed according to the output order calculating speed of angle regulating unit, and according to speed
Instruction generates the PWM drive signal of control driving wheel, and wherein speed regulation unit is used to control the driving of vehicle crusing robot
Wheel.
Here is the further optimization and/or improvements to invention technology described above scheme:
Above-mentioned angle regulating unit includes PID controller, in second step angle regulating unit calculate output order include with
Lower step:
(1) Proportional coefficient K of PID controller in angle regulating unit is calculatedp, calculation formula is as follows:
Kp=Kp2+Kp1×(Road_error×Road_error)
Wherein, Kp1And Kp2Respectively two-term coefficient and constant term；
(2) angle regulating unit is according to departure Road_error and Proportional coefficient KpCalculate output order.
It is above-mentioned in angle regulating unit according to departure Road_error and Proportional coefficient KpWhen calculating output order,
An one order inertia controlling unit is added in the differentiation element of PID controller, then angle regulating unit is calculate by the following formula output
Instruction；
Wherein, τiAnd τd1For the integration time constant and derivative time constant of PID controller, τd2It is in differential controlling unit
The time constant of attached one order inertia controlling unit.
In above-mentioned third step speed regulation unit according to angle regulating unit output order calculating speed instruction include with
Lower step:
(1) the duty ratio duty of the output order of angle regulating unit is calculated；
(2) speed regulation unit is calculate by the following formula differential ratio value Speed_error；
Wherein, dutymaxFor the maximum value of the duty ratio of angle regulating unit output order, KfFor differential coefficient；
(3) speed regulation unit is according to differential ratio value Speed_error, calculating speed instruction.
Above-mentioned speed regulation unit includes inner-wheel driving motor and foreign steamer driving motor, then speed command includes inner-wheel driving
The speed command Speed_in of motor*With the speed command Speed_out of foreign steamer driving motor*, calculation formula is as follows:
Wherein, Speed_set is the setting speed of entire vehicle crusing robot.
According to the central value of runway in above-mentioned S1, it is inclined on runway to obtain vehicle crusing robot vehicle body under current location
Residual quantity Road_error the following steps are included:
(1) the left margin information Road_L and right side information Road_R of front runway are obtained；
(2) vehicle body is calculated according to the following formula be presently in location information Location；
(3) the central value Road_set of runway is preset；
(4) the departure Road_error of vehicle crusing robot vehicle body under current location is calculated, calculation formula is as follows:
Road_error=Location-Road_set.
Above-mentioned angle regulating unit may include steering engine and steering gear control system；Speed regulation unit may include motor control system
System and driving motor group.
For the present invention under the premise of not adding hardware device, angle regulating unit is according to vehicle inspection machine under current location
Departure of people's vehicle body on runway adaptively changes the angle control parameter of itself, while speed regulation unit passes through angle
The adaptive acquisition speed of the adjustment result of degree adjusting unit adjusts the differential instruction of unit, to make angle regulating unit and speed
Degree adjusts unit and cooperates, and it is curved to guarantee that vehicle crusing robot can be stablized under different polling path bend curvature, suppression
The excessively curved sideslip phenomenon of vehicle crusing robot is made.
Detailed description of the invention
Attached drawing 1 is the flow chart of the embodiment of the present invention 1.
Attached drawing 2 is the flow chart that 1 angle regulating unit of the embodiment of the present invention calculates output order.
Attached drawing 3 is the flow chart of 1 speed regulation unit calculating speed of embodiment of the present invention instruction.
Attached drawing 4 is that the embodiment of the present invention 1 obtains departure of the vehicle crusing robot vehicle body on runway under current location
Flow chart.
Attached drawing 5 is the vehicle crusing robot steering engine PID controller that the embodiment of the present invention 2 is added without one order inertia control
Response curve.
Attached drawing 6 is the sound for the vehicle crusing robot steering engine PID controller that one order inertia control is added in the embodiment of the present invention 2
Answer curve graph.
Attached drawing 7 is that the proportionality coefficient of vehicle crusing robot steering engine PID controller under the different road conditions of the embodiment of the present invention 2 exists
Change curve under different departures.
Specific embodiment
The present invention is not limited by the following examples, can determine according to the technique and scheme of the present invention with actual conditions specific
Embodiment.
Below with reference to examples and drawings, the invention will be further described:
Embodiment 1: as shown in Fig. 1, the excessively curved control method of the vehicle crusing robot, comprising the following steps:
The first step obtains vehicle inspection machine under current location according to the central value (position of runway centerline) of runway
Departure Road_error of people's vehicle body on runway；
Second step, angle regulating unit calculate output order according to departure Road_error, and raw according to output order
At the PWM drive signal of control deflecting roller, wherein angle regulating unit is used to control the deflecting roller of vehicle crusing robot；
Third step, speed regulation unit are instructed according to the output order calculating speed of angle regulating unit, and according to speed
Instruction generates the PWM drive signal of control driving wheel, and wherein speed regulation unit is used to control the driving of vehicle crusing robot
Wheel.
The output order of above-mentioned angle regulating unit can be pulse signal, after output order is calculated, angular adjustment
Unit is modulated output order, the PWM drive signal of corresponding control deflecting roller is generated, to control vehicle crusing robot
The angle change of deflecting roller.
Wherein, angle regulating unit may include steering engine and steering gear control system, turn to for controlling vehicle crusing robot
The angle of wheel；The deflecting roller of vehicle crusing robot can be the near front wheel and off-front wheel of vehicle crusing robot；It is controlled in steering engine
It may include PID controller in system；
After the above-mentioned output order for calculating angle regulating unit, speed regulation unit can be calculated according to the output order
To matched speed command, and the PWM drive signal for generating corresponding control driving wheel is modulated to speed command, from
And control the velocity variations of vehicle crusing robot driving wheel.
Wherein, speed regulation unit may include electric machine control system and multiple driving motors, for controlling vehicle survey monitor
The speed of device people's driving wheel；Driving motor and driving wheel correspond, if the driving wheel of vehicle crusing robot be the near front wheel and
Off-front wheel, then need to be by the near front wheel driving motor and off-front wheel driving motor.
For the present invention under the premise of not adding hardware device, angle regulating unit is according to vehicle inspection machine under current location
Departure of people's vehicle body on runway adaptively changes the angle control parameter of itself, while speed regulation unit passes through angle
The adaptive acquisition speed of the adjustment result of degree adjusting unit adjusts the differential instruction of unit, to make angle regulating unit and speed
Degree adjusts unit and cooperates, and it is curved to guarantee that vehicle crusing robot can be stablized under different polling path bend curvature, suppression
The excessively curved sideslip phenomenon of vehicle crusing robot is made.
Here is the further optimization and/or improvements to invention technology described above scheme:
As shown in attached drawing 1,2, the angle regulating unit includes PID controller, angle regulating unit in the second step
Calculate output order the following steps are included:
(1) Proportional coefficient K of PID controller in angle regulating unit is calculatedp, calculation formula is as follows:
Kp=Kp2+Kp1×(Road_error×Road_error)
Wherein, Kp1And Kp2Respectively two-term coefficient and constant term；
(2) angle regulating unit is according to departure Road_error and Proportional coefficient KpCalculate output order.
As shown in attached drawing 1,2, it is described in angle regulating unit according to departure Road_error and Proportional coefficient KpIt calculates
When output order, an one order inertia controlling unit is added in the differentiation element of PID controller, then angle regulating unit passes through
Following formula calculates output order；
Wherein, τiAnd τd1For the integration time constant and derivative time constant of PID controller, τd2It is in differential controlling unit
The time constant of attached one order inertia controlling unit.
The above-mentioned differentiation element in PID controller introduces one order inertia controlling unit, can be improved angle regulating unit
Anti-interference, thus angle regulating unit realize accurately angle control.
As shown in attached drawing 1,3, speed regulation unit is calculated according to the output order of angle regulating unit in the third step
Speed command the following steps are included:
(1) (duty ratio refers in a pulse cycle duty ratio duty of the output order of calculating angle regulating unit
Interior, conduction time is relative to ratio shared by total time)；
(2) speed regulation unit is calculate by the following formula differential ratio value Speed_error；
Wherein, dutymaxFor the maximum value of the duty ratio of angle regulating unit output order, KfFor differential coefficient；
(3) speed regulation unit is according to differential ratio value Speed_error, calculating speed instruction.
As shown in attached drawing 1,3, the speed regulation unit includes inner-wheel driving motor and foreign steamer driving motor, then speed refers to
Enable the speed command Speed_in including inner-wheel driving motor*With the speed command Speed_out of foreign steamer driving motor*, calculate
Formula is as follows:
Wherein, Speed_set is the setting speed of entire vehicle crusing robot.
Above-mentioned inner-wheel driving motor is used to control the lubrication groove of vehicle crusing robot；Foreign steamer driving motor is for controlling vehicle
The foreign steamer of crusing robot.
As shown in attached drawing 1,4, according to the central value of runway in the S1, vehicle crusing robot vehicle under current location is obtained
Departure Road_error on runway the following steps are included:
(1) the left margin information Road_L and right side information Road_R of front runway are obtained；
(2) vehicle body is calculated according to the following formula be presently in location information Location；
(3) the central value Road_set of runway is preset；
(4) the departure Road_error of vehicle crusing robot vehicle body under current location is calculated, calculation formula is as follows:
Road_error=Location-Road_set
As shown in Fig. 1, the angle regulating unit includes steering engine and steering gear control system；The speed regulation unit packet
Include electric machine control system and driving motor group.Wherein driving motor group may include multiple driving motors, and the number of driving motor needs
It is corresponding with the number of driving wheel.
Embodiment 2: setting simulation track, the width of racing track are 50cm, carry out analog simulation using the present invention, as a result and its
Shown in being analyzed as follows:
When steering engine uses PID control strategy, one order inertia control is not added in the differentiation element of PID controller, then it rings
It answers result as shown in Fig. 5, one order inertia is added in the differentiation element of PID controller using method of the invention and controls, rings
Answer result as shown in Fig. 6.
In attached drawing 5, steering engine is stablized near reference value after 500ms, and in attached drawing 6, steering engine is just stable in 340ms
Near reference value；It can thus be seen that the differentiation element of PID controller can introduce very big noise jamming, if in PID control
One order inertia control is added in the differentiation element of device, then can inhibit noise jamming brought by differentiation element, so that response speed obtains
To being greatly improved.
Variation feelings of the proportionality coefficient of steering engine PID controller under different departures are as shown in Fig. 7, have figure it is found that working as
When the absolute value of departure is greater than 5, with the increase of departure, proportionality coefficient is also in non-linear increase, to accelerate its response speed
Degree and to the adaptability of greater curvature bend, when the absolute value of departure is less than 5, proportionality coefficient stabilization is lesser at one
Fixed value, to guarantee its stability.
The above technical characteristic constitutes highly preferred embodiment of the present invention, with stronger adaptability and best implementation effect
Fruit can increase and decrease non-essential technical characteristic, according to actual needs to meet the needs of different situations.
Claims (8)
1. a kind of excessively curved control method of vehicle crusing robot, it is characterised in that the following steps are included:
The first step obtains departure of the vehicle crusing robot vehicle body on runway under current location according to the central value of runway
Road_error；
Second step, angle regulating unit calculates output order according to departure Road_error, and is generated and controlled according to output order
The PWM drive signal of deflecting roller processed, wherein angle regulating unit is used to control the deflecting roller of vehicle crusing robot；
Third step, speed regulation unit are instructed according to the output order calculating speed of angle regulating unit, and according to speed command
The PWM drive signal of control driving wheel is generated, wherein speed regulation unit is used to control the driving wheel of vehicle crusing robot.
2. the excessively curved control method of vehicle crusing robot according to claim 1, it is characterised in that the angular adjustment
Unit includes PID controller, in the second step angle regulating unit calculate output order the following steps are included:
(1) Proportional coefficient K of PID controller in angle regulating unit is calculatedp, calculation formula is as follows:
Kp=Kp2+Kp1×(Road_error×Road_error)
Wherein, Kp1And Kp2Respectively two-term coefficient and constant term；
(2) angle regulating unit is according to departure Road_error and Proportional coefficient KpCalculate output order.
3. the excessively curved control method of vehicle crusing robot according to claim 2, it is characterised in that described in angle tune
Unit is saved according to departure Road_error and Proportional coefficient KpWhen calculating output order, in the differentiation element of PID controller
An one order inertia controlling unit is added, then angle regulating unit is calculate by the following formula output order；
Wherein, τiAnd τd1For the integration time constant and derivative time constant of PID controller, τd2It is appended in differential controlling unit
The time constant of the one order inertia controlling unit added.
4. the excessively curved control method of vehicle crusing robot according to claim 1, it is characterised in that in the third step
Speed regulation unit according to angle regulating unit output order calculating speed instruction the following steps are included:
(1) the duty ratio duty of the output order of angle regulating unit is calculated；
(2) speed regulation unit is calculate by the following formula differential ratio value Speed_error；
Wherein, dutymaxFor the maximum value of the duty ratio of angle regulating unit output order, KfFor differential coefficient；
(3) speed regulation unit is according to differential ratio value Speed_error, calculating speed instruction.
5. the excessively curved control method of vehicle crusing robot according to claim 4, it is characterised in that the speed is adjusted
Unit includes inner-wheel driving motor and foreign steamer driving motor, then speed command includes the speed command Speed_ of inner-wheel driving motor
in*With the speed command Speed_out of foreign steamer driving motor*, calculation formula is as follows:
Wherein, Speed_set is the setting speed of entire vehicle crusing robot.
6. the excessively curved control method of vehicle crusing robot as claimed in any of claims 1 to 5, it is characterised in that
According to the central value of runway in the S1, departure of the vehicle crusing robot vehicle body on runway under current location is obtained
Road_error the following steps are included:
(1) the left margin information Road_L and right side information Road_R of front runway are obtained；
(2) vehicle body is calculated according to the following formula be presently in location information Location；
(3) the central value Road_set of runway is preset；
(4) the departure Road_error of vehicle crusing robot vehicle body under current location is calculated, calculation formula is as follows:
Road_error=Location-Road_set.
7. the excessively curved control method of vehicle crusing robot as claimed in any of claims 1 to 5, it is characterised in that
The angle regulating unit includes steering engine and steering gear control system；The speed regulation unit includes electric machine control system and driving
Motor group.
8. the excessively curved control method of the vehicle crusing robot according to any one of claim 6, it is characterised in that institute
Stating angle regulating unit includes steering engine and steering gear control system；The speed regulation unit includes electric machine control system and driving electricity
Unit.
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| CN117055639A (en) * | 2023-09-04 | 2023-11-14 | 珠海习坎智能科技有限公司 | Self-adaptive speed control method for tunnel inspection robot |
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Application publication date: 20191015 |