摘要
为了提高全向移动平台的控制精度,针对麦克纳姆轮4轮驱动移动机器人的动力学模型进行研究,从移动机器人原动力学方程出发建立特征模型,结合模型预测算法设计了基于动力学模型的轨迹跟踪控制器,该控制器把移动机器人的目标函数转化为一个求解带约束的二次规划问题。将基于特征建模的控制器和传统动力学建模的控制器进行性能对比,仿真结果证明,采用特征建模的轨迹跟踪控制器比传统动力学建模的控制器拥有更好的跟踪性能。
In order to improve the control accuracy of the omnidirectional mobile platform,the dynamic model of the Mecanum wheel 4-wheel drive mobile robot is studied.The characteristic model is established from the original dynamic equation of the mobile robot,and a trajectory tracking controller based on the dynamic model is designed by combining with the model prediction algorithm.The controller transforms the objective function of the mobile robot into a quadratic programming problem with constraints.The performance of the controller based on feature modeling and the controller based on traditional dynamics modeling is compared,and the simulation results show that the trajectory tracking controller using feature modeling has better tracking performance than the controller based on traditional dynamics modeling.
作者
马俊
荆学东
杜黎童
詹佳
MA Jun;JING Xuedong;DU Litong;ZHAN Jia(Submarine Room,Hai Project Management Center,Beijing 100000,China;School of Mechanical Engineering,Shanghai Institute of Technology,Shanghai 201418,China;Shanghai Marine Equipment Research Institute,Shanghai 200031,China)
出处
《机电设备》
2022年第4期148-155,共8页
Mechanical and Electrical Equipment
关键词
全向移动机器人
特征建模
模型预测控制
轨迹跟踪
omnidirectional mobile robot
feature modelin
model predictive control
trajectory tracking
