机械科学与技术2017，Vol.36Issue(6)：883-889,7.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
Kinematics Analysis and Self-adaptive Controller Design of Omni-directional Movement Platform
摘要
Abstract
Based on the analysis of structure and work principle of the Mecanum wheel,the kinematics model of the omni-directional movement platform with four wheels is established by the vector analysis method.As the conventional PID is not an adaptive control system and its real-time response speed needs to be improved,an embedded self-adaptive controller of the omni-directional movement platform is designed in this study based on the CMAC+PID combined control algorithm.The MATLAB simulation and the experimental analysis of DC motor speed regulation are carried out,and the whole motion performance of the prototype is tested by several typical experiments.The results show that the kinematics model of the omni-directional movement platform with Mecanum wheel is reasonable,the CMAC+PID self-adaptive controller has the advantages of fast dynamic response speed,high control precision and good robustness.The prototype can implement lateral movement,vertical movement,rotation on the spot and arbitrary directional movement in the plane,and its overall performance can meet the engineering application requirement.关键词
Mecanum轮/全向移动平台/运动学分析/CMAC+PID控制器Key words
mecanum wheel/omni-directional movement platform/kinematics analysis/CMAC+PID controller分类
信息技术与安全科学引用本文复制引用
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):883-889,7.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 （SJLX15_0524）
