基于Lyapunov直接法差动驱动机器人控制算法研究

对步进电机差动驱动轮式机器人的控制算法进行了研究；通过建立轮式移动机器人的运动学模型，提出了基于Lyapunov直接法的控制算法，考虑到步进电机工作特性，建立轮式移动机器人的动力学模型，引入速度和加速度的限制策略对运动学模型控制算法输出的最大速度和最大加速度作必要的限制，最终生成速度与时间的变化关系能更好地满足实际工况；对所设计的控制算法进行仿真，仿真结果表明控制算法对轨迹误差调节快，在调节过程中不会发生速度突变，能稳定跟踪期望轨迹，在轨迹发生变化时能迅速做出反应；采用基于模型的程序设计方法，将控制算法生成的脉冲数据编译下载到STM32F407微控制器进行实验；控制算法收敛迅速，符合步进电机实际工作特性。

Research on Control Algorithm of Differential Drive Robot Based on Lyapunov Direct Method

With a wheeled robot based on step motor drive for the study, Lyapunov direct method control algorithm is proposed through the establishment of a kinematic model. Then the dynamic model is established and the restriction strategy of speed and acceleration is used to limit the maximum speed and the maximum acceleration of the output from the kinematic model. Finally, the relationship between the speed and time is generated, which can better meet actual working conditions. The simulation results show that the control algorithm can adjust the trajectory error quickly, and there will be no speed mutation during the adjustment process. It can also track the desired trajectory steadily and react quickly when the trajectory changes. The pulse data generated by the control algorithm is compiled and downloaded to the STM32F407 microcontroller for experiment, without additional C code programming.