| 高速移动平台横向运动自抗扰控制研究 |
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| 引用本文： | RUAN Jiu-hong,李贻斌,RONG Xue-wen,邱绪云.高速移动平台横向运动自抗扰控制研究[J].山东大学学报(工学版),2008,38(4):5-10. |
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| 作者姓名： | RUAN Jiu-hong 李贻斌 RONG Xue-wen 邱绪云 |
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| 作者单位： | 1. 山东大学机器人研究中心,山东,济南,250061
2. 山东交通学院先进车辆与机器人研究所,山东,济南250023 |
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| 基金项目： | 国家高技术研究发展计划(863计划)，山东省教育厅资助项目，山东交通学院校科研和教改项目 |
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| 摘 要： | 采用自抗扰控制(ADRC)方法,对高速轮式车辆和机器人等移动平台的横向运动控制技术进行了研究.首先给出带约束的平台横向运动数学模型,对ADRC进行简要介绍;然后将模型变换为两个仿射型的子系统模型的串联,并针对高速运行要求分别设计两个子系统的ADRC控制器;最后在平台参数摄动和道路扰动的环境下进行仿真.结果表明,ADRC控制器能够在0～40m／s速度范围内控制平台完成平稳和高精度的横向运动.本研究可为高速高机动移动平台的工程化设计提供指导.
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| 关 键 词： | 高速移动平台 轮式车辆 轮式机器人 横向运动 自抗扰控制 |
Study on the lateral locomotion control of ADRC-based high-speedmobile platform |
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| RUAN Jiu-hong,LI Yi-bin,RONG Xue-wen,QIU Xu-yun.Study on the lateral locomotion control of ADRC-based high-speedmobile platform[J].Journal of Shandong University of Technology,2008,38(4):5-10. |
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| Authors: | RUAN Jiu-hong LI Yi-bin RONG Xue-wen QIU Xu-yun |
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| Affiliation: | 1. Advanced Vehicle and Robot Institute, Shandong Jiaotong University, Jinan 250023, China;2. Center for Robotics, Shandong University, Jinan 250061, China |
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| Abstract: | The active disturbance rejection control(ADRC) method was utilized to study lateral locomotion control,which is a key technology for platform(such as high-speed wheeled vehicle and robot) intelligence and autonomy.First the platform lateral locomotion mathematic model with constraints was given,and the ADRC was briefly introduced.Then the model was transformed to a series format with affined models of two sub-systems,and the two ADRC controllers were designed for the two sub-systems,respectively.Finally,sim... |
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| Keywords: | high-speed mobile platform wheeled vehicle wheeled robot lateral locomotion active disturbance rejection control |
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