动力学解析的四轮全向移动机器人电机解耦控制

摘要

An four-wheel omni-directional mobile robot is a complicated nonlinear strong coupling mechanical sys-tem.Since the strong coupling phenomena exist between wheel driven motors, it is difficult to obtain ideal control effect.In order to solve this problem, a decoupling method for multi-motor control based on dynamic analysis is raised in this paper.Through dynamic analysis of the four-wheel robot, the state equation between the four wheels’ speed and the driving moment is derived, and the coupling relations between input and output variables of motors are obtained.Furthermore, the decoupling controller is designed according to the consistency idea of controlled vari-ables.Compared with decoupling control of the traditional reference model, the new controller meets both control-ling and decoupling performance, achieving independent control of four motors.Simulation results showed that the method can effectively reduce the coupling interaction between the control variables.Each motor can also track its own input, showing good tracking decoupling effect.%四轮全向移动机器人是一个复杂的非线性、强耦合的机械系统，各轮驱动电机间存在强耦合现象，很难取得理想的控制效果。针对这一问题，提出一种基于动力学解析的多电机控制系统解耦方法。通过对四轮机器人的动力学解析推导出四轮转速与其驱动力矩间的状态方程，获得各电机输入输出量之间的耦合关系，在此基础上依据控制量一致思想设计解耦控制器，解决了传统参考模型解耦方法不能兼顾控制性能和解耦性能的问题，实现了四路电机的独立控制。仿真结果显示，该方法能够有效地减小控制系统各变量间的相互耦合作用，每路电机均很好地跟踪了各自的输入，解耦效果好。