基于双约束条件的移动机器人轮速控制仿真  

Simulation of Mobile Robot Wheel Speed Control Based on Dual Constraint Conditions

作　　者：王可庆 汪磊 席万强 WANG Ke-qing;WANG Lei;XI Wan-qiang(School of Automation,Wuxi University,Wuxi Jiangsu 214105,China;School of Internet of Things Engineering,Jiangnan University,Wuxi Jiangsu 214122,China)

机构地区：[1]无锡学院自动化学院,江苏无锡214105 [2]江南大学物联网工程学院,江苏无锡214122

出　　处：《计算机仿真》2024年第7期491-495,共5页Computer Simulation

摘　　要：由于高速轮式移动机器人在转向过程中极易发生打滑现象,如果不能很好地控制轮速将容易出现事故,造成不可估量的损失。为此,提出一种高速轮式移动机器人轮速自动控制方法。在全局惯性坐标系中建立移动机器人运动学模型,分析转向过程中发生打滑和没有发生打滑的现象,得到机器人速度和加速度的约束条件;针对移动机器人轮速控制目标量建立合力矩,并为每一个车轮都分配一个力矩值,设定上限令轮速保持在合理范围内;由合力矩分配策略推理得到每个车轮的力矩值,再由力矩值反推得到每个车轮的轮速控制量,由此实现机器人轮速自动控制。仿真结果表明,所提方法对于速度和加速度的控制效果较好,可令机器人更加安全稳定地运行。Because of the high risk of slipping during the steering process of high-speed wheeled mobile robots,if the wheel speed cannot be well controlled,ac cidents are likely to occur,resulting in incalculable losses.To this end,this paper presented a method of automatically controlling wheel speed for high-speed wheeled mobile robot.At first,we constructed a kinematic model of mobile robot in the global inertial coordinate system,and then analyzed the phenomenon of slipping and non-slipping during the turning process,thus obtaining the const raint conditions for the speed and acceleration.Moreover,we establi shed a resultant moment for the target amount of wheel speed control,and assigned a torque value to each wheel.Furthermore,we set an upper limit to maintain the wheel speed within a reasonable range.Finally,the torque value of each wheel was inferred from the resultant moment distribution strategy,and then the wheel speed control amount of each wheel was derived from the torque value,thus a chieving the automatic control for robot wheel speed.Simulation re sults show that the proposed method has good control effects on speed and acceleration,and can make the robot operate more safely and stably.

关 键 词：高速轮式移动机器人 轮速自动控制 加速度约束条件 运动学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]