脚轮式全向移动平台负载变化时速度跟踪控制

针对装配有3个单电机脚轮的全向移动平台（简称平台）在不同负载下运动控制精度问题，首先建立平台逆运动学和逆动力学模型；然后在SolidWorks中建立平台三维模型并导入至Adams中建立虚拟样机；在此基础上结合模糊PID控制原理设计速度控制器，并利用Lyapunov函数法证明被控系统的稳定性；最后，在上述控制器作用下，采用Adams-Matlab/Simulink联合仿真技术对平台0%（空载）、20%、50%和100%共4种不同负载情况下的平移运动、复合运动（平动转动同时存在）两种工况进行仿真，并与PID控制效果对比分析。仿真结果表明，模糊PID速度控制器能使速度跟踪滞后时间平均减少56.25%，自转速度最大振幅平均减少46.62%，轨迹误差平均减少57%，及时有效地抑制了负载变化对平台产生的影响，使平台实际速度快速、稳定、准确地收敛于参考速度，系统具有较强的鲁棒性。

Speed Tracking Control of Caster-type Omnidirectional Mobile Platform with Variable Load

For the motion control problem of an omnidirectional platform (hereinafter referred to as platform) with three single-motor-driven caster wheels, the inverse kinematics and dynamics models of the platform were established, and a virtual prototype of the platform was built based on a series of software, including SolidWorks and ADAMS. Based on the fuzzy control principle, a speed controller was designed and the stability of the controller was proved with Lyapunov function. The Matlab/Simulink-ADAMS co-simulation method was used to simulate the movement of the platform under 0%, 20%, 50% and 100% loads. The simulation results show that the fuzzy PID speed controller can reduce the lag time of speed tracking by 56.25% on average, the maximum amplitude of rotation speed by 46.62% on average, and the trajectory error by 57% on average, which can effectively and timely suppress the influence of load changes on the platform, and make the actual speed of the platform converge to the reference speed quickly, stably and accurately. The system has strong robustness.