The invention discloses a robot anti-slip wheel speed control method, device and equipment and a storage medium. Positioning and planning are carried out by controlling a navigation system of the robot, and a wheel speed instruction is issued to a motion control system; controlling the motion control system to receive the wheel speed instruction, and performing PID closed-loop control on the wheel speed instruction; according to a PID closed-loop control result, a first torque signal of a driving motor is obtained; according to the first torque signal, the real-time wheel speed of the robot is obtained; performing slip detection according to the real-time wheel speed of the robot; during slipping, the slipping degree of the wheels of the robot is obtained; according to the slipping degree, torque amplitude limiting is carried out on torque output through PID closed-loop control; performing slip detection again according to the real-time wheel speed of the robot; and when slipping is quitted, the torque output by PID closed-loop control is subjected to torque recovery. According to the invention, a reliable and effective anti-slip strategy is provided, and the safety of unmanned driving is improved.

    本发明公开了一种机器人防打滑轮速控制方法、装置、设备及存储介质。本发明通过控制机器人的导航系统进行定位和规划,下发轮速指令到运动控制系统;控制所述运动控制系统接收所述轮速指令,将所述轮速指令进行PID闭环控制;依据PID闭环控制的结果,获取驱动电机的第一力矩信号:依据所述第一力矩信号,获取机器人的实时轮速;依据所述机器人的实时轮速进行打滑检测;在打滑时,获取机器人车轮打滑的打滑程度;依据所述打滑程度,对PID闭环控制输出的力矩进行力矩限幅;依据所述机器人的实时轮速再次进行打滑检测;当退出打滑时,对PID闭环控制输出的力矩进行力矩恢复。本发明提供了可靠有效的防打滑策略,提高了无人驾驶的安全性。


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    Title :

    Robot anti-slip wheel speed control method, device and equipment and storage medium


    Additional title:

    机器人防打滑轮速控制方法、装置、设备及存储介质


    Contributors:
    LIU CHANGLONG (author) / TANG BIN (author) / GUO ZHIMIN (author)

    Publication date :

    2024-05-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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