基于LADRC的四轮全向Mecanum轮机器人运动控制研究  

Research on four-wheel omnidirectional Mecanum wheel robot motion control based on LADRC

作　　者：蒋华扬 吴涛[1,2] 李明烁 孙家辉 任建鑫 JIANG Huayang;WU Tao;LI Mingshuo;SUN Jiahui;REN Jianxin(Faculty of Mechanical and Electrical Engineering,Kunming University of Science&Technology,Kunming 650500,China;Computer Center,Kunming University of Science&Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学机电工程学院,云南昆明650500 [2]昆明理工大学计算中心,云南昆明650500

出　　处：《现代电子技术》2024年第6期165-170,共6页Modern Electronics Technique

摘　　要：近年来,移动机器人在巡检作业、智能电器、无人驾驶等领域的作用日益显现。全向移动机器人由于结构的特殊性和运动控制的复杂性,采用经典控制方法如比例积分微分控制、线性二次型调节控制等很难实现稳定的控制。针对全向移动机器人易受到外界扰动及其建模不精确的问题,进行四轮全向Mecanum轮机器人的运动控制系统设计。使用扩张状态观测器进行机器人总扰动的实时估计,完成LADRC控制器的设计。实验结果表明,相较于传统控制方法,基于LADRC的控制器能够更好地抑制外部干扰,减小运动误差,并提高机器人的运动精度和鲁棒性。In recent years,the role of mobile robots has become increasingly evident in fields such as inspection tasks,smart appliances,and autonomous driving.Due to the particularity of the omnidirectional mobile robot structure and the complexity of motion control,classic control methods such as proportional-integral-derivative control and linear quadratic regulation control are challenging to achieve stable control.In allusion to problem that omnidirectional mobile robot is susceptible to external disturbance and its modeling is not accurate,the motion control system of four-wheel omnidirectional Mecanum wheel robot is designed.A real-time estimation of the overall disturbance for the robot is accomplished by means of an extended state observer,and the design of the LADRC(linear active disturbance rejection control) controller is completed.The experimental results show that,in comparison with traditional control methods,the controller based on LADRC can better suppress external interference,reduce motion errors,and improve the motion accuracy and robustness of the robot.

关 键 词：四轮全向Mecanum轮机器人 LADRC控制器 运动学模型 扩张状态观测器 抗扰特性 轨迹跟踪 

分 类 号：TN876-34[电子电信—信息与通信工程] TP242[自动化与计算机技术—检测技术与自动化装置]