| 两轮差速机器人运动学分析和控制研究 |
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| 引用本文： | 王维新.两轮差速机器人运动学分析和控制研究[J].现代电子技术,2012,35(10):93-96. |
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| 作者姓名： | 王维新 |
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| 作者单位： | 西安文理学院 机械电子工程系,陕西西安,710065 |
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| 基金项目： | 西安市科技计划项目(CXY1134WL39) |
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| 摘 要： | 对两轮差速机器人的运动控制进行分析,建立了输入/输出量之间的函数隶属关系,在建立轮式机器人的运动学模型和动力学模型基础上,为实际研究提供可行性指导和理论依据。同时为博创平台的差速机器人运动控制提出新的思路,即基于模糊控制的机器人路径跟踪。将增量式PID控制算法及模糊控制策略结合起来,应用于两轮差速机器人的运动控制模型中,并运用Matlab进行仿真,得到了控制系统的响应曲线,达到了满意的效果。
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| 关 键 词： | 差速机器人 模糊控制 Matlab仿真 增量式PID控制 |
Kinematic analysis and control of two-wheel differential robot |
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| WANG Wei-xin.Kinematic analysis and control of two-wheel differential robot[J].Modern Electronic Technique,2012,35(10):93-96. |
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| Authors: | WANG Wei-xin |
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| Affiliation: | WANG Wei-xin(Department of Machinery and Electron Engineering,Xi’an University of Arts and Science,Xi’an 710065,China) |
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| Abstract: | The motion control of the two wheel differential robot is analyzed.The function affiliation between the input and output quantities is established.The establishment of the kinematics model and dynamics model of wheeled robot provided the feasibility guidance and theoretical basis for practical research.A new way based on path tracking of the fuzzy control robot is put forward for the motion control of differential robot on Bogen platform.The combination of the incremental PID control algorithm with fuzzy control strategy is used to the motion control model of two-wheel differential robot.The response curve of the control system was obtained by simulation with Matlab and a satisfactory result was achieved. |
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| Keywords: | differential robot fuzzy control Matlab simulation incremental PID control |
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