[1]王建彬,陈建平,杨宜民.动力学解析的四轮全向移动机器人电机解耦控制[J].智能系统学报,2014,9(5):569-576.[doi:10.3969/j.issn.1673-4785.201304003]
WANG Jianbin,CHEN Jianping,YANG Yimin.Motor decoupling control for four-wheel omni-directional mobile robot based on dynamic analysis[J].CAAI Transactions on Intelligent Systems,2014,9(5):569-576.[doi:10.3969/j.issn.1673-4785.201304003]
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WANG Jianbin,CHEN Jianping,YANG Yimin.Motor decoupling control for four-wheel omni-directional mobile robot based on dynamic analysis[J].CAAI Transactions on Intelligent Systems,2014,9(5):569-576.[doi:10.3969/j.issn.1673-4785.201304003]
动力学解析的四轮全向移动机器人电机解耦控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
9
期数:
2014年第5期
页码:
569-576
栏目:
学术论文—机器感知与模式识别
出版日期:
2014-10-25
- Title:
- Motor decoupling control for four-wheel omni-directional mobile robot based on dynamic analysis
- Keywords:
- omni-directional mobile robots; dynamic analysis; decoupling control; motor control; motion control
- 分类号:
- TP273
- 摘要:
- 四轮全向移动机器人是一个复杂的非线性、强耦合的机械系统,各轮驱动电机间存在强耦合现象,很难取得理想的控制效果。针对这一问题,提出一种基于动力学解析的多电机控制系统解耦方法。通过对四轮机器人的动力学解析推导出四轮转速与其驱动力矩间的状态方程,获得各电机输入输出量之间的耦合关系,在此基础上依据控制量一致思想设计解耦控制器,解决了传统参考模型解耦方法不能兼顾控制性能和解耦性能的问题,实现了四路电机的独立控制。仿真结果显示,该方法能够有效地减小控制系统各变量间的相互耦合作用,每路电机均很好地跟踪了各自的输入,解耦效果好。
- Abstract:
- An four-wheel omni-directional mobile robot is a complicated nonlinear strong coupling mechanical system. Since the strong coupling phenomena exist between wheel driven motors, it is difficult to obtain ideal control effect. In order to solve this problem, a decoupling method for multi-motor control based on dynamic analysis is raised in this paper. Through dynamic analysis of the four-wheel robot, the state equation between the four wheels’ speed and the driving moment is derived, and the coupling relations between input and output variables of motors are obtained. Furthermore, the decoupling controller is designed according to the consistency idea of controlled variables. Compared with decoupling control of the traditional reference model, the new controller meets both controlling and decoupling performance, achieving independent control of four motors. Simulation results showed that the method can effectively reduce the coupling interaction between the control variables. Each motor can also track its own input, showing good tracking decoupling effect.
- 参考文献/References:
-
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- 相似文献/References:
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[1]陈建平,王建彬,杨宜民.基于大脑情感学习的四轮驱动机器人速度补偿控制[J].智能系统学报,2013,8(4):361.[doi:10.3969/j.issn.1673-4785.201303030]
CHEN Jianping,WANG Jianbin,YANG Yimin.Velocity compensation control for a four-wheel drive robot based on brain emotional learning[J].CAAI Transactions on Intelligent Systems,2013,8():361.[doi:10.3969/j.issn.1673-4785.201303030]
备注/Memo
收稿日期:2013-04-01。
基金项目:广东省自然科学基金资助项目(S2011010004006);广东省教育部产学研结合资助项目(2012B091100423);肇庆市科技计划资助项目(2010F006);肇庆学院科研启动基金资助项目(2012BS01).
作者简介:王建彬, 男, 1982年生, 博士研究生, 主要研究方向为智能机器人与智能控制, 发表学术论文10余篇, 其中被EI、ISTP检索8篇;杨宜民, 男, 1945年生, 教授, 博士生导师, 主要研究方向为智能机器人、自动控制、机器视觉等, 先后承担并完成国家自然科学基金、国家"863"计划、省自然科学基金等项目10余项, 获国家专利5项, 发表学术论文100余篇, 出版著作6部。
通讯作者:陈建平, 男, 1975年生, 教授, 博士, 主要研究方向为人工智能与智能机器人, 主持省市厅级项目6项, 获国家实用新型专利1项, 发表学术论文30余篇, 出版著作1部。E-mail:jpchen@zqu.edu.cn.
更新日期/Last Update:
1900-01-01