Dynamic Model Based Motor Control for Wheeled Mobile Robots
-
摘要: 针对移动机器人两路电机协同控制问题，提出基于动力学模型的轮式移动机器人电机控制律（DMMC）．首先推导出质心位置不一定在几何中心的移动机器人运动学模型和动力学模型，并求解出两轮速度与力矩之间的非线性微分方程．然后，基于两轮速度与力矩间非线性微分方程、电机电气方程和电机机电方程，推导出移动机器人系统状态方程．最后采用极点配置得到I型状态反馈控制律．仿真显示，DMMC法实现了对输入指令的零稳态误差快速响应．Abstract: A novel motor control law based on dynamic model(DMMC) is proposed for wheeled mobile robot to control its two driving motors synchronously.First,kinematic model and dynamic model of the mobile robot,of which the mass center position is arbitrary,are derived,and the nonlinear differential equation of speeds and torques of the two wheels is derived.And then,system state equation of the mobile robot is derived based on the nonlinear differential equations of speeds and torques,electrical equations and electrical-mechanical equations of the two driving motors.Finally,the pole placement method is used to form a type I state feedback control law.Simulation shows that the DMMC controller can respond to the input instructions quickly without static error.
-
Keywords:
- motor control /
- mobile robot /
- modeling /
- dynamics /
- nonholonomic constraint /
- cross coupling
-
-
[1] Huang L,Yu W,Jhajharia S K.Speed control of differentially driven wheeled mobile robots-tracking and synchronization[A].Proceedings of the IEEE Instrumentation and Measurement Technology Conference[C].Piscataway,NJ,USA:IEEE,2003.1407～1412. [2] Borenstein J,Koren Y.Motion control analysis of a mobile robot[J].Journal of Dynamic Systems,Measurement and Control,Transactions ASME,1987,109(2):73～79. [3] Otten D.Building MITEE mouse Ⅲ:Part 1[J].Circuit Cellar Ink Magazine,1990,1(15):32～39. [4] Jones J L,Flynn A M,Seiger B A.Mobile Robots:Inspiration to Implementation[M].Natick,MA,UK:AK Peters,Ltd.,1999. [5] Sarkar N,Yun X,Kumar V.Control of mechanical systems with rolling constraints:Application to dynamic control of mobile robots[J].The International Journal of Robotics Research,1994,13(1):55～69. [6] 绪方胜彦.现代控制工程[M].北京:清华大学出版社,2006.Katsuhiko Ogata.Modern Control Engineering[M].Beijing:Tsinghua University Press,2006.
计量
- 文章访问数: 40
- HTML全文浏览量: 1512
- PDF下载量: 692
下载:
