轮式机器人分数阶滑模内模速度控制器设计

DESIGN OF FRACTIONAL SLIDING MODE INTERNAL MODE SPEED CONTROLLER BASED ON WHEELED ROBOT

在不同路面行走过程中,为了提高轮式机器人的响应速度,降低外部扰动对调速系统的影响,改善系统抖振,根据分数阶微积分原理,结合滑模控制与内模控制策略,提出一种分数阶滑模内模控制(Fractional Order Sliding Mode Internal Mode Control,FOSMIMC)新方法,应用于轮式机器人调速系统。通过MATLAB/Simulink与Carsim仿真软件建立四轮差速运动模型。实验结果表明,分数阶滑模内模调速方法不仅能够有效消除系统受干扰时产生的稳态误差和降低调节时间,而且可以削弱系统抖振现象,同时提升了系统的鲁棒性。

During walking on different roads,in order to improve the speed response of the wheeled robot,reduce the impact of external disturbances on the speed control system,and improve system chatter,based on the principle of fractional calculus,combining sliding mode control and internal mode control strategy,a new method of fractional order sliding mode internal mode control(FOSMIMC)is proposed and applied to the speed regulation system of wheeled robot.A four-wheel differential motion model was established by MATLAB/Simulink and Carsim simulation software.The experimental results show that the fractional sliding mode internal mode speed regulation method can not only effectively eliminate the steady-state error generated when the system is disturbed and reduce the adjustment time,but also reduce the system chattering phenomenon.It improves the robust performance of the system.