摘要
随着移动机器人性能的不断完善,移动机器人的应用范围正在不断扩展,逐步进入到工业、军事、服务、教育等领域。设计满足人们的要求的轮式机器人系统一直是控制领域人们关注的热点。设计一直流伺服系统来实现轮式移动机器人的基本要求,设计首先给出了系统的方案。根据方案和所提供的参数性能指标要求。概述了PWM、编码器、直流伺服电机、机器人运动学和动力学。介绍了移动机器人运动系统,以及本设计中的典型Ⅰ型系统。对系统进行静动态分析,设计了一轮式移动机器人直流伺服系统,整定控制器参数。最后通过仿真给出系统的响应结果,进行分析,结果满足移动机器人的基本要求。
With improving performance of mobile robot, the scope of mobile robot application has constantly being applied to industrial and military and service, education, etc. A DC servo systems is designed to meet the de- mands of Mobile robot. It has practical engineering meaning. A plan of system is introduced. According to the plan and the provided, demand of performance, PWM technique and encoder, DC servo motor, kinematics and dynam- ics of mobile robot are described. The mobile robot movement system and typical I System dealt with in paper are introduced, The analysis of static performance and dynamic performance are done. A DC servo system of wheeled mobile robots is designed, and the controller parameters are determined. by simulation. through analysis, the designed DC servo system can meet Response results of the system are given the basic requirements of mobile robot.
出处
《科学技术与工程》
北大核心
2012年第25期6482-6486,6494,共6页
Science Technology and Engineering
