高速移动平台横向运动自抗扰控制  

Study on the lateral locomotion control of an ADRC-based high-speed mobile platform

作　　者：阮久宏[1] 李贻斌[2] 荣学文[2] 邱绪云[1] 

机构地区：[1]山东交通学院先进车辆与机器人研究所,山东济南250023 [2]山东大学机器人研究中心,山东济南250061

出　　处：《山东大学学报（工学版）》2008年第4期5-10,共6页Journal of Shandong University（Engineering Science）

基　　金：国家高技术研究发展计划("863"计划)资助项目(2007AA04Z206);山东省教育厅科技发展计划资助项目(J07WA10);山东交通学院科研基金资助项目(Z200724)

摘　　要：采用自抗扰控制（active disturbance rejection control，ADRc）方法，对高速轮式车辆和机器人等移动平台的横向运动控制技术进行了研究．首先给出带约束的平台横向运动数学模型，对ADRC进行简要介绍；然后将模型变换为两个仿射型的子系统模型的串联，并针对高速运行要求分别设计两个子系统的ADRC控制器；最后在平台参数摄动和道路扰动的环境下进行仿真．结果表明，ADRC控制器能够在0～40m／s速度范围内控制平台完成平稳和高精度的横向运动．The active disturbance rejection control （ADRC） method was utilized to study lateral locomotion control, which is a key technology for platform （such as high-speed wheeled vehicle and robot） intelligence and autonomy. First the platform lateral locomotion mathematic model with constraints was given, and the ADRC was briefly introduced. Then the model was transformed to a series format with aflined models of two sub-systems, and the two ADRC controllers were designed for the two sub-systems, respectively. Finally, simulations were done under system parameter perturbations and road disturbances conditions. The results show that the ADRC controllers can make the platform accomplish smooth and high precision lateral locomotion within a 0 -40 m/s velocity scale.

关 键 词：高速移动平台 轮式车辆 轮式机器人 横向运动 自抗扰控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] U461.6[自动化与计算机技术—控制科学与工程]