全向智能轮椅床的运动控制算法研究  

Research on motion control algorithm of omnidirectional intelligent wheelchair bed

作　　者：张鹏园 赵连玉[1,2] 王成林 ZHANG Pengyuan;ZHAO Lianyu;WANG Chenglin(Tianjin Key Laboratory of Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学,天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学,机电工程国家级实验教学示范中心,天津300384

出　　处：《天津理工大学学报》2023年第2期26-33,共8页Journal of Tianjin University of Technology

基　　金：国家重点研发计划(2017YFF0108104);天津市重点研发计划(20YFZCGX00550);新一代人工智能重大项目(7020300201)。

摘　　要：为提高全向智能轮椅床运动的平稳性和方向控制的准确性,研发了一种能护理失能老人的全向智能轮椅床。通过对移动平台进行力学和运动学分析,设计了一种精准的双闭环直流调速系统,实现了对全向智能轮椅床4个麦克纳姆轮转速的精确控制,解决了全向智能轮椅床运动不稳定和方向控制偏离等问题。期望转速值确定后,通过对比经典比例积分微分(proportional integral differential, PID)算法和模糊PID算法的转速输出曲线,表明模糊PID算法更能满足全向智能轮椅床的使用要求。An omnidirectional intelligent wheelchair bed that can care for disabled elderly people is developed.In order to improve the motion stability and direction control accuracy of the omnidirectional intelligent wheelchair bed,the mechanical analysis and kinematics analysis of the mobile platform are carried out,and a precise double closed-loop direct speed regulation system is designed.The accurate control of rotational speeds of four Mecanum wheels on the omnidirectional intelligent wheelchair bed is realized,and the problems of movement unstable and deviation of the direction control of the omnidirectional intelligent wheelchair bed are solved.After the expected speed value is determined,the speed output curves of the classical proportional integral differential(PID)algorithm and the fuzzy PID algorithm are compared.The results show that the fuzzy PID algorithm can better meet the requirements of the omnidirectional intelligent wheelchair bed.

关 键 词：智能轮椅床 运动控制算法 模糊比例积分微分 全向移动 麦克纳姆轮 SIMULINK仿真 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]