The robot I used(Pionner_p3dx) adopts a differential drive method to control the motor through the underlying PID algorithm to achieve real-time adjustment of the body posture. In the process of designing the correcting controller, a rectification algorithm that combines the deviation distance information and the deflection angle information respectively calculated by the PID controller is proposed to improve the real-time performance of the system.
According to the above method, the movement process of the robot on the boiler wall is simulated in the V-REP.
Simulation results show that this method can control the lateral position accuracy of climbing robots with high precision. Under the premise that the random disturbance amount is not more than ± 5%, the offset distance of the vehicle body can always be controlled within ±5mm in a continuous 50s stroke, and the expected design goal is achieved.
The results are as follows:
| Gaussian Interference | Lateral Error( mm ) |
|---|---|
| ± 2 % | ± 2 |
| ± 5% | ± 3 |
| ± 10 % | ± 6 |
| ± 20 % | ± 10 |