【作者】 张鑫；

【导师】 王群京； 孙洪阳；

【作者基本信息】 安徽大学 ， 电气工程（专业学位）， 2022， 硕士

【摘要】 2020年新冠肺炎病毒爆发以来,全世界感染病例快速增长,全世界为应对肺炎疫情花费了大量的人力物力财力,针对疫情防控需要本文设计了一种低成本、结构简单但功能完善的智能消毒机器人。并针对消毒机器人在滑移扰动下模型的不确定性,对消毒机器人进行了运动控制建模和轨迹跟踪控制研究,论文的主要工作如下:1、制定了智能消毒机器人的设计指标,设计了符合要求的智能消毒机器人下位机底座,该底座采取双轮差速移动方式,搭配合适的传感器配件,完成了硬件和控制系统方案设计。2、设计了与智能消毒机器人底座相匹配的便携式上位机控制器,控制器主要由摇杆、触摸式显示屏、电池、外壳以及若干按钮组成,可与下位机建立实时连接,可接收由下位机传输而来的传感器数据信息,并能遥控智能消毒机器人底座的运动。3、对智能消毒机器人的差速运动原理进行分析,在非完整运动约束分析下,考虑消毒机器人可能存在的干扰情况,建立了消毒机器人的运动学和动力学模型。4、基于上述的数学模型,分析了基于名义的传统滑模算法和滑移扰动下神经网络滑模控制算法的原理,分析了两种算法在双轮差速消毒机器人运动控制中的收敛性问题,并进行了仿真验证。通过现场试验,说明滑移扰动下的神经网络滑模控制算法比基于名义的滑模控制率具有更加优越的收敛速度与追踪效果。更多还原

【Abstract】 Since the outbreak of COVID-19 in 2020,the number of infection cases around the world has increased rapidly,and the world has spent a lot of human,material and financial resources to deal with the pneumonia epidemic.In view of the epidemic prevention and control needs,this paper designed a low-cost,simple structure but complete function of intelligent disinfection robot.In view of the uncertainty of the disinfection robot model under the sliding disturbance,the motion control modeling and trajectory tracking control of the disinfection robot are studied.The main work of the paper is as follows:1.The design indicators of intelligent disinfection robot were formulated,and the base of intelligent disinfection robot was designed to meet the requirements.The base adopted a two-wheel differential movement mode,matched with appropriate sensor accessories,and completed the design of hardware and control system.2.Design the portable master controller which is matched the intelligent disinfection robot base,the controller is mainly composed of a handle,touch screen,battery,shell,and a number of buttons,can establish the real-time connection with slave machine,can be received by the machine transmission of sensor data information,and can remote control the base of the intelligent disinfection robot movement.3.The differential motion principle of the intelligent disinfection robot is analyzed.Under the non-holonomic motion constraint analysis,the kinematics and dynamics models of the disinfection robot are established considering the possible interference of the disinfection robot.4.Based on the above mathematical model,the principle of the traditional sliding mode algorithm based on Nominal neural network sliding mode control algorithm under slip disturbance is analyzed,and the convergence of the two algorithms in the motion control of the two-wheel differential disinfection robot is analyzed.Simulation verification is carried out.Field experiments show that the neural network sliding mode control algorithm with sliding disturbance has better convergence speed and tracking effect than the nominal sliding mode control rate.更多还原