摘要
履带机器人运行环境复杂,运动轨迹具有多变量、非线性等特点,难以建立精确模型。基于履带机器人的运动学模型,设计了履带机器人行驶过程中的位姿误差控制器,将实时角速度与期望角速度差值及差值变化率作为系统输入,由模糊PID控制器实时输出信号,控制履带机器人的驱动电机角速度。仿真结果表明,在低速环境下,该控制器对于履带机器人轨迹跟踪的响应速度快,稳定性较好。
The operating environment of tracked robots is complex,and their motion trajectories have characteristics such as multivariability and nonlinearity,which makes it difficult to establish accurate models.Based on the kinematic model of the crawler robot,the position error controller of the tracked robot is designed to take the difference and change rate of the difference rate between the real-time angular speed and the expected angular speed as the system input to output the signal from the fuzzy PID controller to control the angular speed of the driven motor of the crawler robot.The simulation results show that the controller has fast response and better stability for crawler track tracking at low speed.
作者
李郑涛
方庆山
LI Zhengtao;FANG Qingshan(School of Electronic Engineering,Anhui Vocational College of Electronics&Information Technology,Bengbu 233030,China)
出处
《安徽电子信息职业技术学院学报》
2023年第2期25-28,共4页
Journal of Anhui Vocational College of Electronics & Information Technology
基金
2022年蚌埠市科技计划项目“大尺寸高性能LED背光模组关键技术研发”(2022gx13)
2022年安徽省质量工程项目“汽车制造与试验技术专业教学创新团队”(2022cxtd012)
2022年安徽省质量工程产教融合实训基地项目“安徽电子信息职业技术学院-安徽宝信信息科技有限公司产教融合基地”(2022cjrh003)。
