摘要
为了让电磁屏蔽效能自动测试装置能够在屏蔽室中按照已给定的路径运动,设计了一种开环控制的两轮差速驱动小车,对其运动学进行了分析,并采用双圆弧拟合曲线方法使小车实现按照给定曲线行走。通过大量运动实验验证,利用该方法控制小车能保证小车在行进3m范围内横向和纵向的偏差小于30mm,可以满足系统的需要。最后根据实验结果给出了该方法的适用范围,以及进一步减少误差的思路。
In order for automatic test equipment of electromagnetic shielding effectiveness to the shielded room moving in shielded room in accordance with the given path,a two-wheel differential drive vehicle with Open-loop control was designed.The kinematics of the vehicle was analyzed,and the vehicle moving in accordance with the given curve was achieved by using the method of double-arc curve fitting.Verified by a large number of moving experiment,using this method can guarantee the horizontal and vertical deviations are less than 30 mm when the vehicle moves 3 m,and this result could meet the requirements of the system.At last,the using scope of the method was shown,and an idea for further reducing error was proposed.
出处
《现代电子技术》
2012年第9期115-118,共4页
Modern Electronics Technique
关键词
差速驱动
运动控制
固定路径
曲线行走
differential driving
motion control
fixed path
curve walking
