摘要
基于麦克纳姆轮的全向移动机器人在行驶中极易滑动而导致实际航向偏离设定值,为提高其行驶航向准确性,在分析其运动学模型之后,提出一种对其行驶航向进行实时修正的控制算法——模糊PI控制算法。以姿态角度传感器反馈的航向角偏差和偏差增量作为输入量,通过模糊化、模糊推理和去模糊化三个步骤实现其行驶航向的实时修正,解决机器人行驶航向偏离目标航向和运动不平稳的问题。结果表明,当机器人航向角偏差在35~40°之间时,机器人在纵向运动时模糊PI控制算法的调节时间加快了1.3s,超调角度减小了7.7°;机器人在横向运动时模糊PI控制算法的调节时间加快了1.2s,超调角度减小了4.3°。说明模糊PI控制算法超调量小、调节速度快,航向修正效果很好。
The omnidirectional mobile robot based on mecanum wheel is easy to slide during driving, resulting in the actual heading deviation from the set value. In order to improve the accuracy of its heading, after analyzing its kinematic model, a control algorithm for real-time correction of its heading fuzzy PI control algorithm is proposed in this paper. The heading angle deviation and the increment of the deviation feedback from the attitude angle sensor were taken as input variables;The real-time correction of the heading was realized by three steps of fuzzification, fuzzy reasoning and de-fuzzification, which solved the problem of the robot’s heading deviation from the target heading and motion instability. The results show that when the deviation of the course angle of the robot is between 35 and 40 degrees, the adjusting time of the fuzzy PI control algorithm is accelerated by 1.3 s and the overshoot angle is reduced by 7.7 degrees in the longitudinal motion of the robot, and the adjusting time of the fuzzy PI control algorithm is accelerated by 1.2 s and the overshoot angle is reduced by 4.3 degrees in the lateral motion of the robot. It shows that the fuzzy PI control algorithm has the advantages of small overshoot, fast adjustment speed and good heading correction effect.
作者
张鹏
牛子杰
王龙宁
刘坤澎
ZHANG Peng;NIU Zi-jie;WANG Long-ning;LIU Kun-peng(College of Mechanical and Electronic Engineering,Northwest Agriculture and Forestry University,Xi’an Shanxi 712100,China)
出处
《计算机仿真》
北大核心
2021年第10期353-360,共8页
Computer Simulation
基金
中央高校基本科研业务费专项资金资助项目(24520 17134)
中国博士后科学基金(2017M613217)
国家自然科学基金项目(51775274)
博士科研启动费资助项目(2452016158)。
关键词
麦克纳姆轮
全向移动机器人
航向角偏差
修正
Mecanum wheel
Omnidirectional mobile robot
Heading deviation
Correct
作者简介
张鹏(1999-),男(汉族),河南省周口市人,本科生,主要研究领城为车辆工程的学习与研究;牛子杰(1985-),男(汉族),陕西省宝鸡市人,工学博士,讲师,主要研究领城为机器人驱动控制,超声电机驱动控制的研究;王龙宁(1999-),男(汉族),山东省济宁市人,本科生,主要研究领城为车辆工程的学习与研究;刘坤澎(1999-),男(汉族),黑龙江省七台河市人,本科生,主要研究领域为机械设计制造及其自动化的学习与研究。
