轮式监控移动机器人的自抗扰控制

Active Disturbance Rejection Control of Wheeled Monitoring Mobile Robots

将轮式监控移动机器人用于对大型养殖场动物疫病状态进行监控,是国内提出的新方案,其难点在于视频监控对机器人的平稳行走有着更高的要求,特别是工作环境比较复杂的养殖场。本文设计了基于动力学模型的自抗扰控制器,根据力矩平衡原理建立了移动机器人的动力学模型,并引入虚拟控制量将动力学模型进行解耦;再针对解耦后的方程分别建立一阶和二阶自抗扰控制器,最后在Matlab/simulink下,对所设计的控制律进行了仿真验证。结果表明,该控制系统具有较高的控制性能。

It is a new scheme proposed in China that wheeled monitoring mobile robots are used in large-scale farms to monitor the state of animal diseases,in which the difficult point is that video monitoring has a higher demand for the smooth walking of robots,especially in livestock farms with more complex working environment. This paper designs an active disturbance controller based on the dynamic model,establishes the dynamic model of mobile robots according to the principle of moment balance,and introduces virtual controllers to make decouple on the dynamic model,then establishes one-order and two-order auto-disturbance rejection controllers for the decoupled equation,finally,under Matlab/simulink,makes a simulation on the designed controllers. The results show that the control system has high control performance.