摘要
以麦克纳姆(Mecanum)轮型全方位移动平台为研究对象,建立了运动学和动力学模型。针对全方位轮的滑移和平台的重心偏移等非线性和不确定因素对运动的影响,通过多体动力学软件RecurDyn,构建了包含各种影响因素的虚拟样机模型。采用基于等效控制的模糊滑模控制器,通过模糊切换增益减轻了输出抖振。对比模糊滑模控制和PD控制的仿真结果,表明该方法具有良好的轨迹跟踪效果,为实际全方位移动平台的运动控制提供了有效的研究方法。
A kind of omnidirectional platform using Mecanum wheels was researched in this paper, the kinematic and dynamic models of were built. In order to solve the problem brought by unlinear and uncertain factors such as wheel＇s spe- cial slippgage and barycenter shift of the platform, virtual prototyping including those factors was constructed by multi-body dynamic software RecurDyn. A fuzzy sliding mode controller based on equivalent control was proposed in this paper and the chattering phenomenon was reduced by fuzzy switch gain. Compared with PD control method, results of fuzzy sliding mode control are better on trajectory tracking,which provides an effective method for practical omnidireetion platform.
出处
《微特电机》
北大核心
2012年第8期63-66,74,共5页
Small & Special Electrical Machines
关键词
全方位移动
模糊滑模控制
轨迹跟踪
omnidirectional motion
fuzzy sliding mode control
trajectory tracking
