【摘要】 带有螺旋桨的吸附机构在受到干扰或左右电机存在差异的情况下,越障时会存在偏航角变化不稳定的问题。对此,设计了吸附机构姿态自动控制数学模型,在MATLAB/Simulink软件中分别建立基于传统比例积分微分算法和基于专家经验比例积分微分算法的吸附机构姿态控制系统,对吸附机构保持姿态的稳定性、抗干扰性、跟随性进行仿真对比。通过对吸附机构越障比例积分微分姿态控制进行研究,验证了专家经验比例积分微分算法对吸附机构偏航角调整的有效性。更多还原

【Abstract】 When the suction mechanism with a propeller is disturbed or there is a difference between the left and right motors,there will be a problem of unstable yaw angle changes when crossing obstacle. In this regard,a mathematical model for automatic control of the attitude of the adsorption mechanism was designed.The attitude control system of the adsorption mechanism based on the traditional PID algorithm and the expert experience PID algorithm was established in the MATLAB/Simulink software and the stability,anti-interference and followability of the attitude maintained by the adsorption mechanism were simulated and compared. Through the study on the PID attitude control of the adsorption mechanism for the obstacle surmounting,the effectiveness of the expert experience PID algorithm to adjust the yaw angle of the adsorption mechanism was verified.更多还原