水面清漂机器人控制方法研究  

Research on control method of Water Surface Cleaning Floating Robot

作　　者：王振宁 黄志开[1] 谢明祥[1] 熊乐 WANG Zhenning;HUANG Zhikai;XIE Mingxiang;XIONG Le(School of Mechanical and Electrical Engineering,Nanchang Institute of Technology,Nanchang 330099,China)

机构地区：[1]南昌工程学院机械与电气工程学院,江西南昌330099

出　　处：《南昌工程学院学报》2020年第3期66-69,共4页Journal of Nanchang Institute of Technology

基　　金：江西省教育厅科学技术研究项目(GJJ151134)。

摘　　要：以水面清漂机器人为研究对象,利用Simulink工具建立双体船船体运动学模型。模型根据船体路线与目标路线距离误差得到修正指令,将其转换成模拟信号反馈给电机驱动系统。利用改进后的PID算法对机器人两侧明轮转速进行调节控制,调节机器人的速度和位置参数,实现机器人的自主水面导航。在平静水面情况下,进行了机器人点对点的运动测试。实验结果表明,机器人可以准确地到达设定位置目标。The project takes the Water Surface Cleaning Floating Robot(WSCFR)as the research object,and uses the Simulink tools to establish the kinematics model of the catamaran hull.The model obtains a correction command based on the distance error between the hull route and the target route,and converts it into an analog signal feedback to the motor drive system.The improved PID algorithm is used to adjust and control the speed of the wheel on both sides of the robot,and adjust the speed and position parameters of the robot to realize the autonomous navigation of the robot on the water surface.In the case of calm water,the robot’s point-to-point motion test was performed.The experimental results show that the robot could accurately reach the set position target.

关 键 词：水面清漂机器人 运动学模型 PID算法 差动驱动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]