摘要
为实现地面无人移动平台的准确运动,设计其运动控制系统。选用履带式平台,分析并建立平台运动学模型,搭建H桥模块驱动平台电机,设计电流检测模块和速度检测模块,将电机运行状态反馈给控制器。设计数字PI控制器,形成速度一电流双闭环控制,结合差速反馈控制器,提高运动控制精度。实验结果表明了该运动控制系统的可靠性。
A motion control system is designed for accurate motion of an unmanned mobile platform. A tracked mobile platform is chosen, and its kinematic model is analyzed and built. Respectively, a H-bridge driver module is designed to drive the motor, a current detection module and a motor speed detection module are designed to feedback the motor status to the controller. Besides, digital PI algorithm is adopted to form a double closedloop controller, along with speed-error feedback control algorithm, to ensure the motion control precision of the platform. The experimental results certify the reliability of this motion control system.
出处
《测控技术》
CSCD
北大核心
2014年第9期64-67,共4页
Measurement & Control Technology
基金
国家自然科学基金项目(61104196)
江苏省自然科学基金项目(BK20131352)
南京理工大学紫金之星基金项目(AB41381)
关键词
无人移动平台
运动控制
H桥驱动
数字PI控制
差速反馈控制
unmanned mobile platform
motion control
H-bridge driver
digital PI control
differential feedback control
