摘要
为解决非完整约束轮式移动机器人(WMR)的质心与几何中心不重合问题,进行移动机器人运动学和动力学建模。详细分析WMR模型的建立过程,并对模型进行仿真,验证所建模型的正确性。针对该模型,设计2种满足李雅普诺夫稳定性条件的控制器,即PID运动学控制器和非线性反馈动力学控制器,并进行了对比实验。实验结果表明:非线性反馈动力学控制器对轨迹跟踪的控制效果比PID运动学控制器好,误差较小。
The mass center of non-holonomically constrained wheeled mobile robot(WMR)does not coincide with the geometric center.In order to solve this problem,the kinematics and dynamics modeling of mobile robot were carried out.The modeling process of WMR was analyzed in detail,and the model was simulated to verify the correctness of the established model.For this model,two controllers satisfying the Lyapunov stability condition were designed,namely PID kinematics controller and nonlinear feedback dynamics controller,and the comparative experiments were carried out.The experimental results show that the nonlinear feedback dynamic controller can control the trajectory tracking better than the PID kinematics controller and the error is smaller.
作者
王俊伟
于新海
温荣
闫保刚
肖晓
WANG Junwei;YU Xinhai;WEN Rong;YAN Baogang;XIAO Xiao(College of Mechanical and Electrical Engineering,Hetao College,Bayannaoer Inner Mongolia 015000,China;Baotou Medical College of Inner Mongolia University of Science and Technology,Baotou Inner Mongolia 014040,China;Mechanical and Electrical Office of Cuncaota No.2 Mine,Shendong Coal Branch of National Energy Group,Ordos Inner Mongolia 017000,China;Wan’an Hydropower Plant of Jiangxi Electric Power Co.,Ltd.,National Energy Group,Ji’an Jiangxi 343800,China)
出处
《机床与液压》
北大核心
2021年第9期21-27,共7页
Machine Tool & Hydraulics
基金
国家自然科学基金青年科学基金项目(61901162)
内蒙古自治区高等学校科研项目(NJZY20222)
内蒙古乌梁素海流域山水林田湖草生态保护修复试点工程市级支持计划项目(2019HYYSZX)
河套学院校级科研项目(HYZY201710)。
