摘要
为了提高机器人直线行走的能力,设计了一个速度控制器,通过反馈抑制了左右轮的扰动和参数差异对控制性能的影响。系统采用非对称双核硬件结构,并引入了硬实时扩展RTX,来实现对两轮机器人的实时运动控制。MT-R机器人的实验证明采用上述方案系统有比较好的人机交互界面,响应速度快、控制精度高、动态性能良好、有较好的鲁棒性,可以保证运动控制系统的实时性。
In order to improve the robot＇s ability of walking a straight line, a speed controller was designed to inhibit the influences caused by disturbances of the left or right wheels and parameters difference to improve the control performance through feedback. Asymmetric dual-core hardware architecture was used in system, and a hard real-time extension RTX was introduced, to achieve real-time motion control of two wheeled robots. The experiment result shows that the pro-posed system solution have better man-machine interface, fast response, high control precision, good dynamic performance, and adequate robustness. The real-time performance of the motion control system can be gnaranteed.
出处
《微特电机》
北大核心
2012年第1期48-50,共3页
Small & Special Electrical Machines
