两轮移动机器人运动控制系统的设计与实现

DESIGN AND IMPLEMENTATION OF MOTION CONTROLLER OF TWO-WHEELED MOBILE ROBOT

通过对两轮驱动机器人小车的运动模型的分析 ,提出一种非完整性两轮机器人小车运动控制器的设计方法 .在将运动参量角速度和线速度进行解耦的基础上 ,引入速度控制器 ,通过反馈抑制了左右轮的扰动及参数差异对控制性能的影响 ,并且以数字信号处理器芯片TMS32 0LF2 4 0 7A为控制器核心 ,具体实现了非完整性两轮机器人小车运动控制 .实验结果证明了上述方法的有效性 .

After the analysis of the motion model of two-wheeled mobile robot,the design method of a new non-holonomic motion controller is presented in this paper. With the decoupling of the key motion control parameters,i.e. line speed and angular speed,a Speed-Compensated Controller (SCC) is designed,and the effect on control performance caused by the uncertain disturbance and parameter differences of the two wheels is greatly reduced by feedback. A special Digital Signal Processor (DSP) TMS320LF2407A is employed as the kernel of the robot motion controller. The effectiveness of the new design is testified by the experiment.