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Articles:2017,Vol:22,Issue(3):150-158 |
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Citation: |
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PENG Jiang-tao, GAO Peng-fei, YANG Dong, AKBOTA Kalizhanova, MENG Hua-lin. Motion Control of Omnidirectional Mobile Platform based on Fuzzy PID[J]. International Journal of Plant Engineering and Management, 2017, 22(3): 150-158 |
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| Motion Control of Omnidirectional Mobile Platform based on Fuzzy PID |
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| PENG Jiang-tao1, GAO Peng-fei2, YANG Dong1, AKBOTA Kalizhanova2, MENG Hua-lin1 |
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1. Avic Chengdu Aircraft Industral(Group)Co.Ltd, Chengdu 610091, P. R. China;
2. Northwestern Polytechnical University, Xi'an 710072, P. R. China |
| Abstract: |
| The omnidirectional mobile platform has three degrees of freedom that make it widely applicable to all areas of industry, while the Mecanum wheel has the disadvantages of large vibration, the trajectory precision of Mecanum wheel omnidirectional mobile platform is always difficult in the omnidirectional mobile platform. To control the trajectory of the omnidirectional mobile platform better, this paper proposes a fuzzy self-tuning PID control model, through establishing the motion model of omnidirectional mobile platform in Adams software, then combined with Simulink simulation, analysis of fuzzy PID controller to improve the accuracy of the speed control of omnidirectional mobile platform, improve the control method of a precise trajectory of the omnidirectional mobile platform motion. |
| Key words:
omnidirectional mobile platform
fuzzy self-tuning PID
control model
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| Received: 2017-03-16
Revised:
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| DOI: 10.13434/j.cnki.1007-4546.2017.0304 |
| Corresponding author:
Email： |
Author description: PENG Jiang-tao is a senior engineer in AVIC Chengdu Aircraftt Industral(Group) Co. Ltd. His research interest is digital assembly of aircraft. pengjt2008@sina.com
GAO Peng-fei is a master candidate in School of Mecanical Engineering, Northwestern Polytechnical University. His research interest is integrated development and application of omnidirectional mobile platform. gpf@mail.nwpu.edu.cn
YANG Dong is an assistant engineer in AVIC Chengdu Aircraftt Industral(Group) Co. Ltd. His research is the design of digital assembly control system. 2356193354@qq.com
AKBOTA Kalizhanova is a master candidate in School of Mecanical Engineering, Northwestern Polytechnical University. Her research interest is integration of electromechanical systems. 3102837898@qq.com
MENG Hua-lin is a senior engineer in AVIC Chengdu Aircraftt Industral(Group) Co. Ltd. His research is the design of production line system. menghualin78614@126.com
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