论文部分内容阅读
叙述了灵巧擦窗机器人的速度跟踪控制系统。详细介绍了控制系统的整体结构、下层节点结构和速度控制算法。提出了变 M/T测速方法，改进了 M/T法测速周期的随机性，获得了很好的速度控制特性。
Describes the smart window cleaning robot speed tracking control system. The overall structure of the control system, the structure of the lower nodes and the speed control algorithm are introduced in detail. The variable M / T speed measurement method is proposed to improve the randomness of the M / T speed test cycle and obtain a good speed control characteristic.