摘要
根据基于架空轨道的全向移动机器人运动特点建立了一种以控制器、驱动机构和被执行对象为开环控制的系统模型,分析被执行对象受惯性作用对系统性能的冲击干扰稳定性,通过Matlab仿真分析瞬态性能,并与无扰动系统状态进行对比。结果表明,增加速度(Kcs)反馈闭环的方法可提高系统的稳定性;改变Ka、Kc大小能使系统的动态性能保持在最优状态;采用闭环控制方法能够达到预期效果。
A kind of omnidirectional mobile robot based on the overhead track was studied.According to the motion characteristics,the system model of the controller,driving mechanism and the executed object were established.The stability of the impact and the interference of the inertia action on the system performance of the executed object were analyzed.The transient performance was analyzed by Matlab simulation,compared with the undisturbed system state,the feedback closed-loop of increasing speed(Kcs)was found improving the stability of the system.It was concluded that the dynamic performance of the system could be kept in the optimal state by modifying the values of Kaand Kc.Through the theoretical derivation,Matlab simulation and on-site debugging,the results showed that the control method could achieve the expected results.
作者
徐凯
林显新
易丐
李国进
XU Kai;LIN Xian-xin;YI Gai;LI Guo-jin(Guangxi Institute of Mechanical and Electrical Technology,Nanning,Guangxi 530007,China;College of Electrical Engineering,Guangxi University,Nanning,Guangxi 530007,China)
出处
《食品与机械》
北大核心
2020年第2期105-109,共5页
Food and Machinery
基金
2018年度广西中青年教师基础能力提升项目(编号:2018KY1002)。
关键词
全向移动机器人
架空轨道
运动稳定性
系统性能
omnidirectional mobile robot
overhead rail
kinetic stability
system performance
