The invention provides a tracked robot motor torque control method for deicing wind driven generator blades, and the method comprises the steps: employing a tracked robot two-wheel kinematics model which is independently driven by motors at two sides, and obtaining the expected rotating speeds of the motors at the two sides during steering motion; the output torques of the motors on the left side and the right side are calculated based on the fractional order PI lambda D mu controller and the optimization algorithm, the final torques of the motors on the two sides are obtained by combining the limiting values of the motors, the fractional order PI lambda D mu robustness is good, the influence of interference on the output torques of the motors on the two sides is smaller, the response speed of the motors on the two sides of the tracked robot is increased, and the overshoot is reduced. And the moving precision of the robot is improved.
本发明提供一种用于风力发电机叶片除冰的履带式机器人电机转矩控制方法,采用两侧电机独立驱动的履带式机器人两轮运动学模型,获取转向运动时两侧电机的期望转速,基于分数阶PIλDμ控制器和寻优算法计算得到左、右两侧电机的输出转矩,结合电机的限值得到两侧电机的最终转矩,分数阶PIλDμ鲁棒性良好,两侧电机输出转矩受干扰的影响更小,提高了履带式机器人两侧电机的响应速度并降低超调量,提升了机器人的移动精度。
Tracked robot motor torque control method for deicing wind driven generator blades
一种用于风力发电机叶片除冰的履带式机器人电机转矩控制方法
2024-04-30
Patent
Electronic Resource
Chinese
IPC: | H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge / F03D Windkraftmaschinen , WIND MOTORS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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