灭火机器人火源追踪抗扰算法研究和应用

为实现灭火机器人利用热成像仪对火灾热源快速跟踪,对二维云台进行了水平回转和垂向俯仰方向的动力学建模,采用自抗扰控制器进行了跟踪控制仿真实验并对控制器进行了参数整定。在仿真实验基础上,对云台追踪系统进行了传统PID和ADRC自抗扰算法的实物对比验证。实验结果表明,所研发的自动追踪抗扰算法具备超调量小、调节时间短和抗扰动性能强等优势,为提高灭火器人定点灭火功能提供依据。

Research and application on fire source tracking and active disturbance rejection algorithm for fire-fighting robot

For realizing the rapid tracking of fire source through the fire-fighting robot by using a thermal imager, a dynamic model of the two-dimensional(2D) pan-tilt head in the horizontal slewing and vertical pitch directions was carried out in this paper. The tracking control simulation experiment was carried out by using the Active Disturbance Rejection Control (ADRC). In addition, the parameters of the ADRC were tuned in the simulation experiments. Based on the simulation experiments, a physical comparison verification between the traditional PID and ADRC algorithms were performed on the auto-tracking system for 2D pan-tilt. The experimental results showed that the developed auto-tracking based on ADRC algorithm has advantages such as small overshoot, short adjustment time and strong anti-disturbance performance. Moreover, the proposed method provides a basis research for fire-fighting robot to extinguishing the fire automatically.