【摘要】 应用于机场的服务机器人的底盘驱动为四轮麦克纳姆轮全向驱动,考虑到每个轮子的运转都对整体机构的运行状态起到十分关键的作用。该文基于不同工作环境下对麦克纳姆轮移动平台运行稳定性的实际需求,以驱动麦克纳姆轮的直流电机为研究对象,在Matlab环境下,搭建了直流电机的Simulink数学模型,采用模糊控制器与PID控制器相结合的方法,对该直流电机的动态性能进行仿真,同时和只采用常规PID控制的电机调速系统进行对比。结果表明,基于模糊控制的PID控制器相较于常规PID控制器,具有响应时间快、超调量小、鲁棒性较强以及在受到干扰后能够更快恢复等优点。更多还原

【Abstract】 The chassis drive of the service robot used in the airport is four-wheel Mecanum wheel omni-directional drive,considering that the operation of each wheel plays a very critical role in the operation of the overall mechanism. Based on the ac tual requirements for the operational stability of the mecanum wheel mobile platform under different working environments,the DC motor driving the mecanum wheel is taken as the research object. In the Matlab environment,a Simulink mathematical model of the DC motor is built,and a fuzzy controller is used. Combined with PID controller,the dynamic performance of the DC motor is simulated and compared with the motor speed control system that only uses conventional PID control. The results show that,compared with the conventional PID controller,the PID controller based on fuzzy control has the advantages of fast response time,small overshoot,stronger robustness and faster recovery after interference.更多还原