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全向移动平台运动学分析及其自适应控制器设计

唐炜 刘勇 胡海秀 顾金凤 程鲲鹏

唐炜, 刘勇, 胡海秀, 顾金凤, 程鲲鹏. 全向移动平台运动学分析及其自适应控制器设计[J]. 机械科学与技术, 2017, 36(6): 883-889. doi: 10.13433/j.cnki.1003-8728.2017.0610
引用本文: 唐炜, 刘勇, 胡海秀, 顾金凤, 程鲲鹏. 全向移动平台运动学分析及其自适应控制器设计[J]. 机械科学与技术, 2017, 36(6): 883-889. doi: 10.13433/j.cnki.1003-8728.2017.0610
Tang Wei, Liu Yong, Hu Haixiu, Gu Jinfeng, Cheng Kunpeng. Kinematics Analysis and Self-adaptive Controller Design of Omni-directional Movement Platform[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(6): 883-889. doi: 10.13433/j.cnki.1003-8728.2017.0610
Citation: Tang Wei, Liu Yong, Hu Haixiu, Gu Jinfeng, Cheng Kunpeng. Kinematics Analysis and Self-adaptive Controller Design of Omni-directional Movement Platform[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(6): 883-889. doi: 10.13433/j.cnki.1003-8728.2017.0610

全向移动平台运动学分析及其自适应控制器设计

doi: 10.13433/j.cnki.1003-8728.2017.0610
基金项目: 

江苏省普通高校研究生实践创新计划项目(SJLX15_0524)资助

详细信息
    作者简介:

    唐炜(1973-),副教授,研究方向为智能测控技术、机电控制及自动化,tangweisc@163.com

Kinematics Analysis and Self-adaptive Controller Design of Omni-directional Movement Platform

  • 摘要: 在分析Mecanum轮结构及其工作原理的基础上,基于矢量分析法建立了四轮全向移动平台一般形式的运动学模型;针对常规PID控制无法在线自整定及其响应实时性有待提高等问题,采用CMAC(Cerebellar model articulation controller)+PID联合控制策略,设计了全向移动平台嵌入式自适应控制器;进行了直流电机调速MATLAB仿真及实验对比分析,并通过多组典型实验对样机运动性能进行了测试。结果表明,该Mecanum轮全向移动平台运动学模型是合理的,CMAC+PID自适应控制器动态响应速度快、控制精度高、鲁棒性好,样机能在平面内较好地实现横/纵向平移、原地旋转及全方位运动,总体性能可满足工程应用要求。
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出版历程
  • 收稿日期:  2015-12-27
  • 刊出日期:  2017-06-05

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