| 基于嵌入式ARM和组合滤波的巡检机器人轮速控制 |
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| 引用本文： | 戚尔江,彭道刚,邱正,关欣蕾. 基于嵌入式ARM和组合滤波的巡检机器人轮速控制[J]. 电测与仪表, 2018, 55(10): 76-83 |
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| 作者姓名： | 戚尔江 彭道刚 邱正 关欣蕾 |
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| 作者单位： | 上海电力学院 自动化工程学院,上海电力学院 自动化工程学院,上海电力学院 自动化工程学院,上海电力学院 自动化工程学院 |
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| 基金项目： | 上海市“科技创新行动计划”社会发展领域项目（16DZ1202500）,上海市科学技术委员会工程技术研究中心项目资助（14DZ2251100） |
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| 摘 要： | 巡检机器人在未来将应用到工业和生活各个领域,轮速控制系统是实现机器人自主巡检的关键环节。针对工程研发过程中遇到的问题和传统控制系统滤波方式的优缺点,设计了三种滤波相融合的机器人轮速控制系统滤波方案,并在STM32F103嵌入式ARM控制器中采用增量式PID控制算法对其进行轮速控制。实验对复合滤波器使用前后进行实物数据采样和图表对比,验证了三种滤波器的组合方案可以使巡检机器人轮速控制精度较滤波前提高至0.9%,轮速偏差均值提升至0.6 r/min。
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| 关 键 词： | 巡检机器人 滤波 增量式PID 嵌入式 轮速控制系统 |
| 收稿时间： | 2017-06-05 |
| 修稿时间： | 2017-06-05 |
Wheel speed control for inspection robot based on embedded ARM and combination filter |
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| Qi Erjiang,Peng Daogang,Qiu Zheng and Guan Xinlei. Wheel speed control for inspection robot based on embedded ARM and combination filter[J]. Electrical Measurement & Instrumentation, 2018, 55(10): 76-83 |
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| Authors: | Qi Erjiang Peng Daogang Qiu Zheng Guan Xinlei |
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| Affiliation: | College of Automation Engineering,Shanghai University of Electric Power,Shanghai Engineering Research Center of Intelligent Management and Control for Power Process,College of Automation Engineering,Shanghai University of Electric Power,Shanghai Engineering Research Center of Intelligent Management and Control for Power Process,College of Automation Engineering,Shanghai University of Electric Power,Shanghai Engineering Research Center of Intelligent Management and Control for Power Process,College of Automation Engineering,Shanghai University of Electric Power,Shanghai Engineering Research Center of Intelligent Management and Control for Power Process |
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| Abstract: | Inspection robot will be applied to every field of industry and life in the future. Wheel speed control system is the key link of robot autonomous inspection. In view of the advantages and disadvantages of filtering methods in the traditional wheel speed control system and encountered engineering problems in the process, the integration of three kinds of filter were used in the robot control system, and the incremental PID control algorithm was used to control the speed in STM32F103 embedded ARM controller. The real data sampling and comparison were done in the experiment before and after the composite filter used, verified the combination of the three kinds of filters can be used to make the control precision of the inspection robot, improve the precision of wheel speed to 0.9%, increase average wheel speed deviation to 0.6 r/min. |
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| Keywords: | Inspection robot filtering incremental PID embedded system wheel speed control system |
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