基于Mecanum轮全向移动机构运动的控制律分析

Analysis of Motion Control Law of Omni-Directional Motion Mechanism based on Mecanum Wheel

根据Mecanum轮的几何结构特点,计算了基于Mecanum四轮全向移动机构的控制律,得出Mecanum轮转速变化规律,对Mecanum轮运动过程进行仿真,分析了Mecanum轮几何参数对其角速度、角加速度的影响,提出改进Mecanum轮设计结构降低驱动电机转矩脉动的方法;根据设定速度下系统期望位移的大小,计算了采用恒转速控制时电机转速大小,降低了电机控制复杂程度,并将所得结论应用于工程实践中,所得实验数据证明了该方法正确可靠。

Based on the geometric characteristics of the Mecanum wheel, the control law of the omni-directional motion mechanism with 4 Mecanum wheels is calculated, the variation law of the Mecanum wheel revolving speed is achieved. Then the motion process of the Mecanum wheel is simula- ted, the Mecanum wheel geometric parameters impact on its angular velocity and angular acceleration are analyzed and the method of improving the design structure of Mecanum wheel to decrease the torque impulse of the driven motor is proposed. According to the size of system expected displacement under setting speed, the motor revolving speed value is calculated by using permanent revolving speed control, the complexity of motor revolving speed control is reduced. Then the conclusion is applied in engineering practice, the theory is proved to be correct and reliable by the experiment data.