摘要
全向移动平台采用多个麦克纳姆轮独立驱动,通过轮组的转速和转向的组合,可以以任意姿态在二维平面内移动,运动非常灵活、平稳,通过位置细微调整实现精确定位和高精度轨迹控制,广泛用于自主移动机器人。为了提高全向移动平台控制的实时性和精确性,增强整个控制系统的稳定性与准确性,对该平台所采用的CAN总线网络、DMA数据传输和PID控制算法等方法进行研究。首先对基于麦克纳姆轮的移动平台进行数学建模并进行运动分析,然后为了加快传感器数据的传输,采用DMA数据传输,而且主控和电机之间通过CAN总线网络以1 M/S的速度进行数据交换。经过测试,在遥控平台全向运动的过程中,操作流畅,平台无卡顿现象,并能够快速准确的到达目标位置。满足控制系统的稳定可靠、精度高、抗干扰能力强等要求。
Omnidirectional mobile platform is driven by independent multiple Mecanum wheels. Through the combination of rotation speed and steering of the wheel set, it can move in a two-dimensional plane at arbitrary angles. Its movement is very flexible and smooth. It implements precise positioning and high precision trajectory control with fine adjustment of position, and is widely used in autonomous mobile robots. To improve the real-time and accuracy of omnidirectional mobile platform and enhance the stability and accuracy of the whole control system, the CAN bus network used in the platform, DMA data transmission, PID control and other methods were studied. Firstly, the mathematical modeling and motion analysis of the mobile platform based on the Mecanum wheel is carried out. Then, to speed up the transmission of sensor data, the platform uses DMA data transmission, and data exchange between main control and motor through CAN bus network is carried out at the speed of 1 M/S. Through repeated debugging and testing, operation is smooth during omnidirectional movement of the remote-control platform. And the platform without lag phenomenon, can quickly and accurately reach the target position. It basically meets the requirements of stable, reliable, high precision and strong anti-interference ability of the control system.
出处
《计算机科学与应用》
2017年第9期894-901,共8页
Computer Science and Application
基金
2016国家级大学生创新创业训练计划资助(NO.201610345026)。
