现代电子技术2011，Vol.34Issue(11)：133-134,138,3.
果林机器人行走驱动闭环控制分析
Analysis of Motion Drive Closed-loop Control for Fruit-trees Robots
摘要
Abstract
This research is conducted to select the reasonable control mode of the robots. Taking the track fruit-trees robot as an example, the fruit-trees robot's dual-motor control system is analyzed. Based on the speed incremental PID closed-loop control algorithm of the step DC motor, the proportional coefficient, integral coefficient and differential coefficient of PID controller is calculated. The stimulation and experiments demonstrates that the speed incremental PID control is better than the open-loop control motor in the response speed and stability when the robot is running in a straight line on the ground at the 3000 rpm. These results indicate that the mode of the speed incremental PID closed-loop control is most reasonable.关键词
果林机器人/双电机驱动/PID闭环控制/电机响应速度Key words
fruit-trees robot/ dual-motor drive/ PID closed-loop control/ motor response speed分类
信息技术与安全科学引用本文复制引用
余嘉傲..果林机器人行走驱动闭环控制分析[J].现代电子技术,2011,34(11):133-134,138,3.基金项目
国家"863"计划资助项目(2006AA10Z255) （2006AA10Z255）
