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. Qi Erjiang,Peng Daogang,Qiu Zheng,Guan Xinlei.Wheel speed control for inspection robot based on embedded ARM and combination filter[J].Electrical Measurement & Instrumentation,2018,55(10):76-83.
基于嵌入式ARM和组合滤波的巡检机器人轮速控制
Wheel speed control for inspection robot based on embedded ARM and combination filter
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.
