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由于全向移动平台具有任意方向移动,任意角度转动,零转弯半径等优点成为当今研究的热点。但麦克纳姆轮全向移动平台同时具有沿不同方向运动时的电机转矩负载不平衡的特点。以基于全向移动平台的倒立摆系统为例,进行了保证摆杆稳定的同时,对平台电机转矩最小化控制的研究。建立了基于全向移动平台的倒立摆系统的动力学模型。分别设计了控制量为平台加速度和电机转矩的两种LQR控制器。通过仿真验证了同参数情况下,以电机转矩为控制量的LQR控制器对转矩的优化性能更好。
Due to omni-directional mobile platform with any direction of movement, any angle of rotation, zero turning radius and other advantages become the hot spot of today’s research. However, the Mcnum wheel omni-directional mobile platform has the characteristics of imbalance of the motor torque load when moving in different directions at the same time. Taking the inverted pendulum system based on the omni-directional mobile platform as an example, the research of minimizing the torque control of the platform motor is carried out while ensuring the stability of the pendulum. The dynamic model of inverted pendulum system based on omni-directional mobile platform is established. Two kinds of LQR controllers are designed respectively, which control the platform acceleration and the motor torque. The simulation results show that the LQR controller based on motor torque control has better torque performance.