基于麦克纳姆轮的工作台控制系统设计

Workbench Control System Design Based on Mecanum Wheel

麦克纳姆轮具有灵活实现前行、横移、旋转及其组合运动特点，已被广泛应用于机器人、车辆和工作台等领域。本文设计并完成了一套基于万向轮的控制系统，并开发了相应的控制程序。该系统由4对麦克纳姆轮万向轮参与，通过可编程控制器（PLC）来实现任意方向的实时移动。本文探究比较了其他先进控制方法，比如模糊控制技术（FC），现场可编程门阵列技术（FPGA），非线性编程技术（NLP）以及线性轨迹控制技术（TLC），供控制系统的改进和优化作参考。

The Mecanum wheel has been widely applied in the field of robot, vehicle and workbench due to the capabilities of moving toward, sideway, rotation and combination of other motion pattern. This thesis designs and builds an omni-wheel robot control system which is controlled by Programmable Logic Controller （PLC） to achieve the ability of instantaneous motion in any direction with 4 coupled Mecanum wheels involved. A simulative control program has been developed to fulfill the function of line motion. Additionally, several advanced control methods have been explored in this thesis, such as FPGA, NLP and TLC, which can be helpful in the future modification and improvement of control systems.