脚轮式全向移动平台负载变化时速度跟踪控制  

Speed Tracking Control of Caster-type Omnidirectional Mobile Platform with Variable Load

作　　者：黄晓蓉 张天宇 彭忆强 孙树磊 蒋鹏 李华夏 HUANG Xiaorong;ZHANG Tianyu;PENG Yiqiang;SUN Shulei;JIANG Peng;LI Huaxia(School of Automobile and Transportation,University of Xihua,Chengdu 610039 China;Vehicle Measurement,Control and Safety Key Laboratory of Sichuan Province,Chengdu 610039 China;Provincial Engineering Research Center for New Energy Vehicle Intelligent Control and Simulation Test Technology of Sichuan,Chengdu 610039 China;Engineering Research Center of Advanced Energy Saving Driving Technology Ministry of Education,Chengdu 610031 China)

机构地区：[1]西华大学汽车与交通学院,四川成都610039 [2]汽车测控与安全四川省重点实验室,四川成都610039 [3]四川省新能源汽车智能控制与仿真测试技术工程研究中心,四川成都610039 [4]先进节能驱动技术教育部工程研究中心,四川成都610039

出　　处：《西华大学学报（自然科学版）》2023年第2期1-12,19,共13页Journal of Xihua University:Natural Science Edition

基　　金：国家重点研发计划项目(2018YFB1201603);四川省科技厅重点研发项目(2020YFG0211,2018GZ0110,2020YFG0023,2018GZDZX0011,2020YFQ0037,2019ZDZX0002);四川省科技厅国际合作项目(2018HH0125);成都市科技局产业集群项目(2017-XT00-00002-GX)。

摘　　要：针对装配有3个单电机脚轮的全向移动平台(简称平台)在不同负载下运动控制精度问题,首先建立平台逆运动学和逆动力学模型;然后在SolidWorks中建立平台三维模型并导入至Adams中建立虚拟样机;在此基础上结合模糊PID控制原理设计速度控制器,并利用Lyapunov函数法证明被控系统的稳定性;最后,在上述控制器作用下,采用Adams-Matlab/Simulink联合仿真技术对平台0%(空载)、20%、50%和100%共4种不同负载情况下的平移运动、复合运动(平动转动同时存在)两种工况进行仿真,并与PID控制效果对比分析。仿真结果表明,模糊PID速度控制器能使速度跟踪滞后时间平均减少56.25%,自转速度最大振幅平均减少46.62%,轨迹误差平均减少57%,及时有效地抑制了负载变化对平台产生的影响,使平台实际速度快速、稳定、准确地收敛于参考速度,系统具有较强的鲁棒性。For the motion control problem of an omnidirectional platform(hereinafter referred to as platform) with three single-motor-driven caster wheels, the inverse kinematics and dynamics models of the platform were established, and a virtual prototype of the platform was built based on a series of software,including SolidWorks and ADAMS. Based on the fuzzy control principle, a speed controller was designed and the stability of the controller was proved with Lyapunov function. The Matlab/Simulink-ADAMS cosimulation method was used to simulate the movement of the platform under 0%, 20%, 50% and 100%loads. The simulation results show that the fuzzy PID speed controller can reduce the lag time of speed tracking by 56.25% on average, the maximum amplitude of rotation speed by 46.62% on average, and the trajectory error by 57% on average, which can effectively and timely suppress the influence of load changes on the platform, and make the actual speed of the platform converge to the reference speed quickly, stably and accurately. The system has strong robustness.

关 键 词：脚轮式全向移动平台 虚拟样机 模糊PID控制 控制系统稳定性 Matlab/Simulink-Adams联合仿真 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]