带驱动直流电机两轮机器人运动系统仿真  

Motion System Simulation of Two Wheeled Robot with DC Motor Drive System

作　　者：王牛[1] 李祖枢[1] 李永龙[1] 潘娅[2] 

机构地区：[1]重庆大学智能自动化研究所,重庆400044 [2]西南科技大学,四川621002

出　　处：《系统仿真学报》2008年第17期4633-4638,4646,共7页Journal of System Simulation

基　　金：国家自然科学基金(60274022,60574076);重庆大学自动化学院青年教师基金2007年支持项目(200702);重庆大学研究生创新团队项目(200704Z1B0010219)

摘　　要：在两轮轮式机器人运动学特性以及直流电机系统的实际响应特性的基础上,分析了实际机器人的各个子系统。根据两轮机器人运动学特性建立了机器人运动模块,采用简化了的直流电机系统模型建立了电机及驱动模块,建立了给定限幅模块。这些模块构成了完整的带双闭环驱动直流电机系统的两轮机器人运动仿真系统。以RoboCup足球机器人系统作为验证平台,将提出的仿真系统、只采用理想运动学模型的仿真系统、带有二阶电机系统模型的仿真系统和实际系统四者的运行结果进行了对比。实验表明提出的仿真系统能更为有效地反映实际系统的运行情况,可以用于实际系统控制算法的仿真设计。Based on kinematics characteristic of two wheeled robot and response characteristic of fact motor drive system, every subsystem of fact robot was analyzed. The robot motion module was gotten according as kinematics characteristic of two wheeled robot. The module of motion and motion driver was found using model of DC Motor system which is simplified. The limiting breadth module of setting was advanced. These modules constituted the whole motion simulation system of two wheeled robot with double loop DC motor drive system. Based on the system of RoboCup soccer robot as experiment platform, the response results of four systems, the simulation system that is advanced and the simulation system only with ideal kinematics model and the simulation system with two rank model of the motor system and fact robot system, were compared. The experimentation indicates that the simulation system that is advanced can reflect the running status of fact system more availably. The simulation system can be used for the simulation design of control arithmetic of fact system.

关 键 词：两轮机器人 运动学方程 电机驱动系统 运动轨迹 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]