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移动机器人平稳运动不仅有利于提高控制精度确保相关任务的完成,而且对减少机械磨损提高系统寿命密切相关。以双轮差速移动机器人系统为研究平台,提出了一种基于指令预处理的速度平滑控制方案。与传统调速控制方法不同的是,在对执行机构速度进行控制的过程中,理想速度指令不直接“生硬”地输入控制器,而是通过巧妙“柔性”预处理,生成新的更有利于平滑运动的控制指令,从而有效避免传统方法无法回避的抖动问题。针对典型的直线和曲线运动模式,建立了相关预处理严格的解析关系和算法,通过分析和现场测试,充分证实该控制方案既能有效减少系统执行器对电机驱动器的依赖,节约成本,又可显著增加运行的平稳性和平滑性,对保证机械结构长期安全健康工作十分有益。
The smooth movement of mobile robot is not only conducive to improve the control accuracy to ensure the completion of related tasks, but also to reduce the mechanical wear and improve system life is closely related. Taking a two-wheel differential mobile robot system as a research platform, a speed-smoothing control scheme based on instruction preprocessing is proposed. Unlike traditional speed control methods, the ideal speed command is not “directly” entered into the controller during control of the actuator speed, but instead is generated via clever “flex” preprocessing More conducive to the smooth movement of the control commands, thus effectively avoiding the jitter problems can not be avoided by traditional methods. Aiming at the typical linear and curvilinear motion modes, the rigorous analytical relations and algorithms of related preprocessing are established. Through the analysis and field testing, it is fully proved that the control scheme can effectively reduce the dependence of the actuator on the motor driver and save the cost. Significantly increase the smoothness and smoothness of the operation are very useful to ensure the long-term safety and health of the mechanical structure.