动力学解析的四轮全向移动机器人电机解耦控制  

Motor decoupling control for four-wheel omni-directional mobile robot based on dynamic analysis

作　　者：王建彬[1] 陈建平[2] 杨宜民[1] 

机构地区：[1]广东工业大学自动化学院,广东广州510090 [2]肇庆学院计算机学院,广东肇庆526061

出　　处：《智能系统学报》2014年第5期569-576,共8页CAAI Transactions on Intelligent Systems

基　　金：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)

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。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.

关 键 词：全向移动机器人 动力学解析 解耦控制 电机控制 运动控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]