基于复合控制算法的全向移动平台设计与实现  

Design and Implementation of Omnidirectional Mobile Platform Based on Composite Control Algorithm

作　　者：师永林 赵建国[1] 梁杰[1] 杨炯 SHI Yong-lin;ZHAO Jian-guo;LIANG Jie;YANG Jiong(College of Mechanical Engineering,Zhengzhou University,Zhengzhou 450001,China)

机构地区：[1]郑州大学机械工程学院

出　　处：《科学技术与工程》2019年第20期246-251,共6页Science Technology and Engineering

基　　金：国家自然科学基金(51705469);河南省高等学校重点科研项目计划(19A460028)资助

摘　　要：设计并制作了一款基于麦克纳姆轮的全向移动平台,为保证移动平台的高精度运动和灵活避障,提出了一种复合控制算法。移动平台采用4个麦克纳姆轮为驱动轮并建立了在环境坐标系下的数学模型,采用上、中、下3层分布的电路控制系统,并以二维模糊PID(proportion integral differential)控制器、Bang-Bang算法和提出的避障算法构成复合控制器,实现移动平台在室内灵活避障和高精度运动。研究结果表明:设计的移动平台运动方式灵活,能够在二维环境下保持良好的避障能力和较高的运动精度。A mobile platform based on Mecanum wheel was designed and fabricated.In order to ensure high precision motion and flexible obstacle avoidance of mobile platform,a compound control algorithm was proposed.Four Mecanum wheels were equipped on the mobile platform as the driving wheels.Basis on that,the mathematical model of the mobile platform in the environment coordinate system was established,and the circuit control system of the mobile platform was divided into upper,middle and lower layers.The mobile platform combined two-dimensional fuzzy PID controller,Bang-Bang algorithm and the obstacle avoidance algorithm to form a composite control algorithm,which realized flexible obstacle avoidance and high-precision motion of the mobile platform indoors.The research results show that the mobile platform is flexible in motion mode.It can maintain better obstacle avoidance ability and higher motion accuracy in two-dimensional environment.

关 键 词：麦克纳姆轮 沿墙导航 模糊PID算法 运动学模型 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]