基于双侧电机同步转速调节的履带机器人直行控制研究  

Research on the Straight Movement Control of Tracked Robots Based on Synchronized Rotation Speed Adjustment with Dual-side Motors

作　　者：魏琼[1,2] 周越 吴子龙 柯鼎 张道德 WEI Qiong;ZHOU Yue;WU Zilong;KE Ding;ZHANG Daode(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China;Hubei Province Key Laboratory of Modern Manufacturing Quality Engineering,Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,武汉430068 [2]现代制造质量工程湖北省重点实验室,武汉430068

出　　处：《火力与指挥控制》2024年第10期103-110,117,共9页Fire Control & Command Control

基　　金：国家自然科学基金资助项目(52075152,51905159)

摘　　要：由于路面阻力不均衡使履带机器人双侧电机负载扰动不一致,造成两侧电机转速不同步,导致直行运动跑偏。因此,需要提高双电机的转速同步性能。针对路面扰动等因素,考虑到滑模控制算法对参数变化不敏感,且能够抑制一定范围内的不确定扰动。故基于交叉耦合控制方法加入滑模同步控制算法进行改进。将传统交叉耦合控制方法和改进的交叉耦合滑模同步控制方法进行对比仿真和实验。结果表明,突变扰动下,改进后同步误差和直行跑偏量得到明显减小,同步直行性能有了显著提高。The uneven road resistance makes the tracked robot’s bilateral motor load perturbation inconsistent,resulting in unsynchronized rotational speeds of the motors on both sides,which leads to deviation in the straight movement.Therefore,it is necessary to improve the rotation speed synchronization performance of the dual motors.For such factors as road surface disturbance,etc.,considering that the sliding mode control algorithm is insensitive to parameter changes and can suppress uncertain disturbances within a certain range.Therefore,the sliding mode synchronization control algorithm is added based on the cross-coupling control method for improvement.The traditional cross-coupled control method and the improved cross-coupled sliding mode synchronization control method are compared in simulations and experiments.The results show that the synchronization error and the straight deviations are significantly reduced and the synchronized straight movement performance is significantly improved under the abrupt disturbances.

关 键 词：履带机器人 滑模控制算法 双电机同步控制 交叉耦合同步控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]