Research On Fast And High Precision Control Algorithm Of RoboMasters Robot Pan-tilt

As an important robot competition platform,RoboMasters has an important influence on the development of robot technology.The robot pan-tilt is the core of the robot which based on the RoboMasters competition,and the robot pan-tilt control effect directly affects the performance of the robot.High-precision,fast-responding robot pan-tilt control algorithms is especially important for it.This paper introduces the development history of the robot based on the RoboMasters infantry robot,and finds the research and development status of the 2-DOF robot pan-tilt platform and field at home and abroad.According to the actual work requirements of the robot pan-tilt platform system,we made the system design.By analyzing the system characteristics of this kind of robot head,this paper designed a related algorithm to optimize its maneuver characteristics and noise characteristics.By discussing the classical PID control algorithm and various parameter self-tuning PID control algorithms,a fast and high-precision robot pan-tilt control algorithm that meets its control requirements is further designed.The validity of the algorithm is verified by simulation,step response experiment and actual working condition analysis.The general idea of this article is as follows:First introduced the RoboMasters competition,and then introduced the status of research and development of such robots.The development of the control technology of the robot pan-tilt platform also affects the development of the robot technology.By analyzing the research and development status of the pan-tilt platform at home and abroad,the problems to be solved based on the control of the wheeled robot of the RoboMasters are proposed,and then the problems to be solved in this paper are proposed.That is how to achieve fast and high-precision control based on the robot pan-tilt platform of the RoboMasters competition.By analyzing the control principle of such robots,the system architecture of the robot pan-tilt control algorithm is proposed.By analyzing the actual working conditions of the robot,the maneuvering characteristics and noise characteristics affecting the control effect of the robot pan-tilt platform are pointed out and the processing method is studied.For the noise characteristics,the corresponding filter algorithm is designed to reduce the influence of noise;and for the maneuver characteristics,a specific adaptive control algorithm is selected through analysis to meet the requirements of the robot head control.After completing the rough algorithm analysis for the two characteristics,the robot pan-tilt control algorithm needs to be designed in detail.Firstly determine the basic structure of the algorithm,that is,algorithmic operating system and the input and output interfaces of algorithm;then analyze the algorithm's difficulties and its solution;finally,the algorithm is designed from the basic PID controller to the dual closed loop PID controller to the adaptive PID controller.Then,the system identification method and control algorithm simulation are designed for the robot pan-tilt control and control system.Comparing and analyzing the cascade PID controller with the adaptive controller,it is feasible to verify the algorithm at the simulation level.Finally,through step-by-step comparison analysis of the algorithm,the feasibility of the algorithm is verified,and the conclusion that the algorithm achieves the predetermined index is obtained.