主管：中华人民共和国应急管理部
主办：应急管理部天津消防研究所
ISSN 1009-0029  CN 12-1311/TU
消防科学与技术

消防科学与技术 ›› 2020, Vol. 39 ›› Issue (5): 675-678.

• • 上一篇    下一篇

灭火机器人火源追踪抗扰算法研究和应用

郭亭亭1,5，鲍明松2，池荣虎1,3，李娟1,4   

  1. 1.山东阿图机器人科技有限公司，山东 烟台 264006；2.山东国兴智能科技股份有限公司，山东 烟台 264006；3.青岛科技大学，山东 青岛 266100；4.青岛农业大学，山东 青岛 266100；5.中国海洋大学，山东 青岛 266109
  • 出版日期:2020-05-15 发布日期:2020-05-15
  • 作者简介:郭亭亭(1990-)，男，山东曲阜人，山东阿图机器人科技有限公司总经理，博士，主要从事特种机器人设计和智能控制方面的研究，山东省烟台开发区香港路18号，264006。
  • 基金资助:
    烟台市开发区创新创业领军团队资助项目“复杂地面和恶劣环境下目标驱动型防爆消防侦察机器人研发”

Research and application on fire source tracking and active disturbance rejection algorithm for fire-fighting robot

GUO Ting-ting1,5, BAO Ming-song2, CHI Rong-hu1,3, LI Juan1,4   

  1. 1. Shandong Atu Robot Technology Co. LTD , Shandong Yantai 264006，China; 2. Shandong Guoxing Intelligent Technology Co. LTD, Shandong Yantai 264006，China; 3. Qingdao University of Science and Technology, Shandong Qingdao 266100， China; 4. Qingdao Agricultural University, Shandong Qingdao 266100， China; 5. Ocean University of China, Shandong Qingdao 266109， China
  • Online:2020-05-15 Published:2020-05-15

摘要： 为实现灭火机器人利用热成像仪对火灾热源快速跟踪，对二维云台进行了水平回转和垂向俯仰方向的动力学建模，采用自抗扰控制器进行了跟踪控制仿真实验并对控制器进行了参数整定。在仿真实验基础上，对云台追踪系统进行了传统PID和ADRC自抗扰算法的实物对比验证。实验结果表明，所研发的自动追踪抗扰算法具备超调量小、调节时间短和抗扰动性能强等优势，为提高灭火器人定点灭火功能提供依据。

关键词: 灭火机器人, 火源追踪, PID算法, ADRC抗扰算法

Abstract:

For realizing the rapid tracking of fire source through the fire-fighting robot by using a thermal imager, a dynamic model of the two-dimensional(2D) pan-tilt head in the horizontal slewing and vertical pitch directions was carried out in this paper. The tracking control simulation experiment was carried out by using the Active Disturbance Rejection Control (ADRC). In addition, the parameters of the ADRC were tuned in the simulation experiments. Based on the simulation experiments, a physical comparison verification between the traditional PID and ADRC algorithms were performed on the auto-tracking system for 2D pan-tilt. The experimental results showed that the developed auto-tracking based on ADRC algorithm has advantages such as small overshoot, short adjustment time and strong anti-disturbance performance. Moreover, the proposed method provides a basis research for fire-fighting robot to extinguishing the fire automatically.

Key words: fire-fighting robot, automatic fire tracking, PID algorithm, ADRC algorithm