基于电子罗盘反馈的固定轴全向移动平台设计  

The fixed axis omnidirectional mobile platform design based on electronic compass feedback

作　　者：贝振权[1] 马景军[1] 刘文强[1] 

机构地区：[1]黑龙江工程学院汽车与交通工程学院,黑龙江哈尔滨150050

出　　处：《黑龙江工程学院学报》2013年第3期46-49,共4页Journal of Heilongjiang Institute of Technology

摘　　要：随着企业内部物流的发展,物品转运效率以及空间效率的提高,对于大型零部件和设备的转运,普通轮式转运设备已经受到了制约,以"智能车库泊车系统"课题为契机,设计一种基于电子罗盘反馈的固定轴全向移动平台,作为该类自动化立体仓(车)库的转运设备。平台的整体运动由各个全向轮的速度合成,并读取转速传感器的实际转速来调控目标轮达到期望转速,利用电子罗盘对平台的实际位置检测,通过数字PID控制器实现对平台运动位置校准,由蓝牙终端实现对平台整体的遥控操作。Since the development of internal logistics, the goods transit efficiency and space efficiency for the transport of large parts and equipment have been imporved, resulting in the traditional common- wheeled transporter device being constrained. Taking a smart garage parking system issue as an opportunity it designs a fixed axis electronic compass feedback omnidirectional mobile platform as a transfer equipment for the automation stereoscopic warehouse. The overall movement of the platform is controled by the omni-wheel speed by reading the actual speed of the speed sensor to control goal wheel for the desired speed. An electronic compass is used to test the actual location of the platform. Digital PID controller is used to calibrate the platform motion position. Thus the remote control for the platform is realized through bluetooth terminal.

关 键 词：全向轮 移动平台 运动分析 电子罗盘反馈 数字PID控制器 

分 类 号：TP271.9[自动化与计算机技术—检测技术与自动化装置]