摘要
针对常规伺服电机驱动的麦克纳姆轮底盘具有线性操纵特性,在全向移动时操纵不平稳、难于精准控制的问题,提出了一种以等百分比特性为目标,基于软件补偿的麦克纳姆轮底盘操纵特性优化方案。分析了麦克纳姆轮底盘的运动模型,设计了等百分比特性的补偿算法,并采用启动死区补偿的方法,进一步解决了电机启动转速死区问题。实际操纵与变量反馈可知,通过算法补偿可实现底盘系统的等百分比操纵特性,速度低时操纵平稳缓和,速度高时操纵灵敏有效。根据不同负载及电机性能设定系统的可调比和启动死区,可进一步优化操纵特性,增强系统适应能力。
The Mcnamu wheel chassis driven by conventional servo motor has linear control characteristics,which is unstable and difficult to control accurately in omnidirectional movement.To solve these problems,an optimization scheme of Mcnamu wheel chassis handling characteristics based on software compensation was proposed to achieve the goal of equal percentage characteristics.After analyzing the motion model of Mecanum wheel chassis,the compensation algorithm of equal percentage characteristic was designed,and the dead zone compensation method was adopted to solve the dead zone problem of motor starting speed.The actual operation and variable feedback show that the equal percentage handling characteristics of the chassis system can be achieved through algorithm compensation.The operation runs smoothly and moderately at low speeds,while sensitively and effectively at high speeds.By setting the adjustable ratio and dead zone of the system according to different loads and motor performance,the handling characteristics and the adaptability of the system can be furtherly optimized and enhanced.
作者
杨云杉
杨红
张聪
孟春节
赵帅
YANG Yunshan;YANG Hong;ZHANG Cong;MENG Chunjie;ZHAO Shuai(School of Mechanical and Electrical Engineering,Wuhan Institute of Technology,Wuhan 430205,China;Hubei Key Laboratory of Chemical Equipment Intensification and Intrinsic Safety(Wuhan Institute of Technology),Wuhan 430205,China)
出处
《武汉工程大学学报》
CAS
2021年第6期689-693,共5页
Journal of Wuhan Institute of Technology
基金
国家级大学生创新创业训练计划项目(202110490010)
武汉工程大学校长基金(202110490010)。
关键词
麦克纳姆轮底盘
全向移动
等百分比操纵特性
软件补偿
可调比
起步死区
Mecanum wheel chassis
omnidirectional movement
equal percentage handling characteristic
software compensation
adjustable ratio
starting dead zone
