基于模糊控制的轮式机器人振动主动控制  

Active vibration control of wheeled mobile robot based on fuzzy logic

作　　者：张梁[1] 张方[1] 蒋祺[1] 朱伟 Zhang Liang;Zhang Fang;Jiang Qi;Zhu Wei(State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;Huaheng Welding Co. ,Ltd. , Kunshan 215313, China)

机构地区：[1]南京航空航天大学机械结构力学及控制国家重点实验室,南京210016 [2]昆山华恒焊接工程技术中心,昆山215313

出　　处：《国外电子测量技术》2017年第11期129-133,共5页Foreign Electronic Measurement Technology

基　　金：国家自然科学基金(51305197);机械结构力学及控制国家重点实验室(南京航空航天大学)自主研究课题(0115K01);江苏高校优势学科建设工程基金项目资助

摘　　要：针对某型轮式机器人在不平路面的激励下产生的振动问题,利用ADAMS建立了包括货架在内的轮式机器人的虚拟样机。考虑轮式机器人主动轮的独立驱动方式,建立了主动轮和从动轮独立相关的白噪声时域路面激励模型。根据轮式机器人在路面激励下的振动情况设计了一种自调整的模糊控制器,通过MATLAB与ADAMS进行联合仿真实现对轮式机器人的货架振动主动控制。仿真结果表明,模糊控制能控制货架的振动响应,控制后的振动位移比无控减小66%以上,控制效果良好。Vibration control is an important issue of wheeled mobile robot（WMR） when riding on uneven road, and ran- dom inputs should be taken in to consideration. Firstly, a virtual prototype of the WMR with its warehouse rack is estab- lished in ADAMS, and choose a filtered white noise model for the random road input both on with and without the con- sideration of correlation assumption of its wheels. Then design a self-regulation fuzzy logic control system according to the vibration response of the warehouse rack with random inputs in MATLAB. With the mechanical system in ADAMS and control system in MATLAB can build a closed loop to co-simulate the whole active vibration control system by combining the two software＇s specialties. The simulation results show that the fuzzy logic control system can reduce the vibration of warehouse rack, and the vibration amplitude is reduced by 79 percent, which demonstrates this method＇s effectiveness.

关 键 词：轮式机器人 振动 模糊控制 联合仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]