Negative pressure adsorption PID algorithm for bridge detection robot

The invention belongs to the technical field of bridge detection, and particularly relates to a negative pressure adsorption PID algorithm for a bridge detection robot. Comprising the steps of collecting real-time air pressure data of an internal cavity of the bridge detection robot by using an air pressure sensor; sending the acquired real-time air pressure data to the main controller through the auxiliary controller, and continuously acquiring the air pressure data for a plurality of times by taking 20 milliseconds as a period; performing median filtering algorithm processing on the multiple times of air pressure data to determine reference air pressure before adsorption; a position type PID control algorithm is used, and according to the target air pressure value and the current air pressure value fed back by the air pressure sensor, the motor rotating speed adjustment amount is calculated; and the rotating speed of the motor is automatically adjusted according to the obtained rotating speed adjustment amo