全向移动平台运动学分析及其自适应控制器设计

Kinematics Analysis and Self-adaptive Controller Design of Omni-directional Movement Platform

在分析Mecanum轮结构及其工作原理的基础上,基于矢量分析法建立了四轮全向移动平台一般形式的运动学模型;针对常规PID控制无法在线自整定及其响应实时性有待提高等问题,采用CMAC(Cerebellar model articulation controller)+PID联合控制策略,设计了全向移动平台嵌入式自适应控制器;进行了直流电机调速MATLAB仿真及实验对比分析,并通过多组典型实验对样机运动性能进行了测试。结果表明,该Mecanum轮全向移动平台运动学模型是合理的,CMAC+PID自适应控制器动态响应速度快、控制精度高、鲁棒性好,样机能在平面内较好地实现横/纵向平移、原地旋转及全方位运动,总体性能可满足工程应用要求。

Based on the analysis of structure and work principle of the Mecanum wheel, the kinematics model of the omni-directional movement platform with four wheels is established by the vector analysis method. As the conventional PID is not an adaptive control system and its real-time response speed needs to be improved, an embedded self-adaptive controller of the omni-directional movement platform is designed in this study based on the CMAC＋PID combined control algorithm. The MATLAB simulation and the experimental analysis of DC motor speed regulation are carried out, and the whole motion performance of the prototype is tested by several typical experiments. The results show that the kinematics model of the omni-directional movement platform with Mecanum wheel is reasonable, the CMAC＋PID self-adaptive controller has the advantages of fast dynamic response speed, high control precision and good robustness. The prototype can implement lateral movement, vertical movement, rotation on the spot and arbitrary directional movement in the plane, and its overall performance can meet the engineering application requirement.