采用低成本直流电机的电脑鼠动力学系统建模  

Dynamic System Modeling of Micromouse Using Low-cost DC Motor

作　　者：王贞炎[1] 徐琛 尹仕[1] Wang Zhenyan;Xu Chen;Yin Shi(School of Electrical and Electronic Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学电气与电子工程学院,武汉430074

出　　处：《机电工程技术》2021年第7期97-100,共4页Mechanical & Electrical Engineering Technology

基　　金：教育部第二批新工科研究与实践项目(编号:E-NYDQHGC20202219)。

摘　　要：市面上低成本的普通微型电机通常缺乏具体的动力学参数和模型,迷宫机器人电脑鼠为了保证其控制性能,一般会选择一流电机制造商的电机产品,成本高昂。在保证电脑鼠运动性能的基础上,采用市面上极低成本的空心杯永磁直流微型电机,基于经典直流永磁电机模型,通过理论分析结合反复实验测算获取电机模型参数,并由此推导了电脑鼠的整个动力微分方程组,构建了电脑鼠动力学系统的仿真模型,实现了对其动力学模型状态空间的描述。实验测试结果表明,构建的动力学系统模型准确有效,利用本模型进行系统控制,即使是采用市面上普通空心杯永磁直流微型电机搭建的电脑鼠也能达到竞赛级性能需求,同时电脑鼠元件购置成本大幅降低,通用性有效增强,具有较强的推广应用价值。Low-cost ordinary micromotors on the market usually lack specific dynamic parameters and models.In order to ensure the control performance,the competitive maze robot micromouse is usually equipped with the high-level motor products of leading motor manufacturers,which are costly.A very low-cost hollow-cup permanent magnet DC micromotor on the market was adopted.The model parameters of the DC motor were obtained through calculation and various experiments,based on the classic model of DC permanent magnet motor,the simulation model of the dynamic system of the micromouse was constructed,and the state space of its dynamic model was obtained.The experimental test results show that the dynamic system model constructed is effective.Applying it to system control,the micromouse equipped with ordinary hollow-cup permanent magnet DC micromotors on the market could also meet the competition performance requirements,while greatly reduce the cost and enhance the versatility,which is of strong promotion and application value.

关 键 词：电脑鼠 直流电机 参数测量 动力学模型 状态空间 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]