基于动态矩阵控制的自主移动机器人模型预测控制方法研究  

Model predictive control strategy based on dynamic matrix control for robot

作　　者：袁宇鹏 胡杨 李军[1,2] 王浩 张祖伟[1,2] 杨靖 王登攀[1,2] YUAN Yupeng;HU Yang;LI Jun;WANG Hao;ZHANG Zuwei;YANG Jing;WANG Dengpan(Chongqing Acoustic-Optic-Electronic Co.,Ltd,China Electronics Technology Group Corporation,Chongqing 401332,P.R.China;26th Institute of China Electronics Technology Group Corporation,Chongqing 400060,China)

机构地区：[1]中电科技集团重庆声光电有限公司,重庆401332 [2]中国电子科技集团公司第二十六研究所,重庆400060

出　　处：《重庆邮电大学学报（自然科学版）》2018年第4期537-543,共7页Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition)

基　　金：国家重点研发计划(2017YFB0406404)~~

摘　　要：自主移动机器人运动转向系统的精确控制是其实现直线运行、原地转向功能和完成自主巡航、自治搬运任务的重要基础。为实现对机器人运行转向系统的有效控制,通过分析自主移动机器人的运动转向系统的数学模型,构建出传递函数的表达形式,提出了一类基于动态矩阵控制(dynamic matrix control,DMC)的模型预测控制方法。此外,面向自主移动机器人的运动转向系统,利用Matlab平台开展了基于DMC的模型预测控制方法的仿真研究,仿真结果表明,在运动转向系统的控制过程中,基于DMC的预测控制方法同传统比例-积分-微分(proportion-integral-derivative,PID)控制器相比,在抑制超调、防止稳态误差等方面具有更强的控制性能;开展针对模型失配问题的仿真研究,进一步证明了该算法的鲁棒性和适应能力。同时,通过无障碍和有障碍两类情形下的机器人行走实验,验证了机器人运动系统的有效性。Efficient control for the steering system of the autonomous robot is the key technology for robot to walk straightly and spin,which is important for the autonomous target.Firstly,to achieve the efficient control of the steering system of the autonomous robot,this manuscript builds the model of the steering system.And a model predictive control strategy is presented based on the dynamic matrix control(DMC)method.Secondly,simulations based on the Matlab platform are carried out to analyze the performance of the predictive control strategy.Simulation results show that the control performance of DMC based predictive control is nicer than that of the PID controller,which has good performance in suppressing overshoot and errors of steady-state.Thirdly,the unmatched model problems are studied by simulations,which demonstrate the adaptability and the robustness of the model predictive control strategy.Finally,two navigation experiments of robot are presented to verify the performance of the steering system of robot.

关 键 词：动态矩阵控制 模型预测控制 运动转向系统 机器人 比例-积分-微分(PID)控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]