The invention discloses a spherical robot and a control method thereof, and the method comprises the steps: A, electrifying a main system, initializing the spherical robot and all peripherals, synchronously starting external interruption of a gyroscope, and entering the circulation of the main system; b, a main function of the main system detects whether external interruption information of the gyroscope exists or not, if the interruption information is not detected, a display screen is turned on, data are displayed, and time delay occurs to the main system; step C, the main function skips to enter a gyroscope interrupt function, an interrupt flag bit is cleared, and a frequency division flag bit is negated; when the frequency division flag bit is 1, reading an attitude angle, executing one-time handle control operation, and returning to the main function; when the frequency division flag bit is 0, PID operation is executed, and the main function is returned. The four-point sphere fixing principle is structurally utilized, the structural stability of the spherical robot is improved, the three closed-loop controllers are designed based on the PID controller to control movement of the spherical robot, and stable control over the spherical robot is achieved.
一种球形机器人及球形机器人的控制方法,方法包括,步骤A:主系统上电,初始化球形机器人及所有外设,同步开启陀螺仪外部中断,进入主系统循环;步骤B:主系统的主函数检测是否存在陀螺仪外部中断信息,若未检测到中断信息,打开显示屏,显示数据,主系统发生延时;若检测到中断信息,进入步骤C:步骤C:主函数跳转进入陀螺仪中断函数,清除中断标志位和分频标志位取反;当分频标志位为1时,读取姿态角,执行一次手柄控制运算,并返回主函数;当分频标志位为0时,执行PID运算,返回主函数。本发明在结构上利用四点定球原理,提高球形机器人结构稳定性,基于PID控制器设计三个闭环控制器控制球形机器人的运动,实现对球形机器人的稳定控制。
Spherical robot and control method thereof
一种球形机器人及球形机器人的控制方法
28.03.2023
Patent
Elektronische Ressource
Chinesisch
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