基于MPC的麦克纳姆轮移动平台轨迹跟踪控制  

Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC

作　　者：黄晓宇 孙勇智[1,2] 李津蓉 王翼挺[1,2] 杨颀伟 Huang Xiaoyu;Sun Yongzhi;Li Jinrong;Wang Yiting;Yang Qiwei(School of Automation and Electrical Engineering,Zhejiang University of Science and Technology,Hangzhou 310023,China;Key Institute of Robotics of Zhejiang Province,Hangzhou 310023,China)

机构地区：[1]浙江科技学院自动化与电气工程学院,浙江杭州310023 [2]浙江省机器人产业学院,浙江杭州310023

出　　处：《机械传动》2023年第11期22-29,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(62173306)教育部产学合作协同育人项目(201901014014)。

摘　　要：针对麦克纳姆轮全向移动平台轨迹跟踪控制问题,提出了一种模型预测控制(Model Predictive Control,MPC)和微分先行比例-积分-微分(Proportional plus Integral plus Derivative,PID)协同的双闭环控制策略。基于麦克纳姆轮运动学特点,设计了位姿控制环和速度控制环;在位姿控制环建立麦克纳姆轮底盘的线性误差模型,设计二次型目标函数,将路径跟随问题转化为对非线性模型的预测控制;在速度控制环引入微分先行PID控制器,避免输入量频繁的阶跃变化对系统产生高频干扰,加快麦克纳姆轮的角速度收敛,增强了系统稳定性。仿真实验表明,设计的控制器在收敛速度、跟踪精度方面均高于常见的轨迹跟踪器,对麦克纳姆轮移动平台的控制具有良好的鲁棒性。For the trajectory tracking control problem of the omnidirectional mobile platform of Mecanum wheels,a strategy of double closed-loop control with model predictive control(MPC) and differential forward proportional plus integral plus derivative(PID) is proposed.The attitude control loop and velocity control loop are designed based on the kinematics characteristics of Mecanum wheels.The linear error model of the Mecanum wheels chassis is established by the attitude control loop,the quadratic objective function is designed,and the problem of path following is transformed into predictive control for the nonlinear model.In the velocity control loop,the differential forward PID controller is used to avoid the high-frequency disturbance to the system caused by frequent step changes of the input quantity,accelerate the convergence of the angular velocity of the Mecanum wheels,and enhance the stability of the system.Simulation experiments demonstrate that the controller designed in this study has better convergence speed and tracking accuracy than the commonly used trajectory algorithm,and it can provide good robustness to control the mobile platform of Mecanum wheels.

关 键 词：麦克纳姆轮 轨迹跟踪 线性误差模型 模型预测控制 微分先行PID 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]