Overshoot suppression method and device of mobile robot wheel speed steepest control system
The invention provides an overshoot suppression method and device for a wheel speed steepest control system of a mobile robot, and the method comprises the steps: obtaining a process given signal of the wheel speed steepest control system of the mobile robot, inputting the process given signal into...
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| Format: | Patent |
| Sprache: | chi ; eng |
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| Zusammenfassung: | The invention provides an overshoot suppression method and device for a wheel speed steepest control system of a mobile robot, and the method comprises the steps: obtaining a process given signal of the wheel speed steepest control system of the mobile robot, inputting the process given signal into a negative proportion controller, and enabling the negative proportion controller to output a negative proportion control signal; inputting the negative proportion control signal into an actual differentiator to enable the actual differentiator to output an actual differential signal; inputting the process given signal into a delayer to enable the delayer to output a delay signal; inputting the delay signal into a third-order inertial filter, so that the third-order inertial filter outputs a third-order inertial filter signal, inputting the actual differential signal into a subtrahend of a subtractor, and inputting the third-order inertial filter signal into a minuend of the subtractor; compared with the prior art, |
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