A navigation control algorithm for inspection robot based on KEA128 single chip microcomputeris proposed to overcome the problems of inaccurate positioning and poor flexibility in current power plant inspection robot navigation control technology.In this algorithm,a reasonable mathematical model of feedback control is established by using multi-sensor fusion signal acquisition.The feedback control systems of balance control,speed control and direction control are designed respectively.The stable feedback control system is calculated according to Nyquist criterion.Finally,the simulation analysis and parameter tuning of the PID control algorithm of the control system are carried out based on MATLAB/Simulink.The results verify the effectiveness of the algorithm.The algorithm can provide a theoretical basis for the safe and stable operation of power plant inspection robot,and it has practical application value.
关键词
导航控制技术/Simulink仿真/PID控制
Key words
Navigation control technology/Simulink simulation/PID control
维普
万方数据