四轮驱动全向底盘的控制方法研究

Research on the Control Method of Four-wheel Driving Omnidirectional Chassis

为提高机器人移动的灵活性和机动性,使机器人到任意位置均沿直线行走并改变姿态,需在传统的两轮驱动底盘上增加驱动轮,文章主要针对四轮驱动全向底盘的控制方法进行研究;文章对四轮驱动全向底盘进行运动学分析并建模,得到了控制系统传递函数,并进仿真验证;对四轮驱动全向底盘进行了动力学建模,分析了如何避免出现"打滑"现象;导航方式采用了经济、精度较高的全向码盘导航方式;控制上采用闭环控制,加入前置探测点和超前校正环节,并且考虑了实际过程中机体的加减速问题;实验结果表明,提出的控制方法可以使四轮驱动全向底盘实现预设功能,并且具有较高的控制精度,研究内容对机器人的灵活移动有着十分重要的意义。

In order to improve the flexibility and mobility of the robots, enabling them to walk along a straight line to any location and change the attitude at the same time, more driving omnidirectional wheels needed to be fixed on the chassis of robots. This paper mainly stud- ied the control method of four--wheel driving omnidirectional chassis. By modeling and simulating on the kinematics of the four--wheel driv- ing omnidirectional chassis, the transfer function of the control system was achieved. The navigation of the system was omnidirectional en- coder navigation. The control system was the close--loop control system and the detecting points, leading correction links and the actual ac- celeration or deceleration had been considered. The experiments showed that the control method proposed by this paper could realize the func- tion of reservation and had a high control precision. It＇s meaningful for the flexible movement of robots.