本文關(guān)鍵詞： 四輪滑動(dòng)轉(zhuǎn)向機(jī)器人 軌跡跟蹤 反演控制 滑�？刂� 自適應(yīng)控制　出處：《大連海事大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：輪式移動(dòng)機(jī)器人具有靈活穩(wěn)定的運(yùn)動(dòng)性能而使其在生產(chǎn)生活中有廣闊的應(yīng)用前景,近些年來(lái)有關(guān)移動(dòng)機(jī)器人的研究正受到越來(lái)越多的關(guān)注。本文以四輪滑動(dòng)轉(zhuǎn)向機(jī)器人為研究對(duì)象,圍繞其運(yùn)動(dòng)控制中的軌跡跟蹤問(wèn)題展開(kāi)研究。首先建立出四輪滑動(dòng)轉(zhuǎn)向機(jī)器人的非完整約束方程,并分析了加入側(cè)向速度時(shí)誤差方程的推導(dǎo)過(guò)程�；谝苿�(dòng)機(jī)器人的運(yùn)動(dòng)學(xué)模型分別設(shè)計(jì)了反演和反演滑模軌跡跟蹤控制律,通過(guò)構(gòu)造Lyapunov函數(shù)證明了在兩組控制律下系統(tǒng)的全局穩(wěn)定性,并根據(jù)圓形和S形軌跡的跟蹤結(jié)果進(jìn)行了跟蹤有效性的比較和分析。然后設(shè)計(jì)了含有階躍變化的打滑系數(shù)來(lái)模擬移動(dòng)機(jī)器人在實(shí)際路面上的運(yùn)動(dòng),針對(duì)常規(guī)反演控制在模型參數(shù)波動(dòng)條件下出現(xiàn)位姿保持能力下降的現(xiàn)象,通過(guò)建立新的跟蹤誤差方程,用估計(jì)函數(shù)實(shí)時(shí)估計(jì)輪地間的打滑系數(shù)以修正控制器輸出,改善了控制系統(tǒng)在對(duì)象模型參數(shù)波動(dòng)條件下的控制穩(wěn)定性,并通過(guò)實(shí)驗(yàn)仿真結(jié)果證明了控制算法的有效性�？紤]到移動(dòng)機(jī)器人如果在轉(zhuǎn)彎時(shí)具有較大的轉(zhuǎn)向速度,車體的側(cè)向滑動(dòng)現(xiàn)象較為明顯,此時(shí)的側(cè)偏角較大,移動(dòng)機(jī)器人的側(cè)向速度不能忽略,所以本文最后根據(jù)加入側(cè)向速度后的軌跡跟蹤誤差方程設(shè)計(jì)出具有3個(gè)切換面的滑模跟蹤控制器,通過(guò)仿真結(jié)果驗(yàn)證了控制效果,并設(shè)計(jì)了自適應(yīng)滑�？刂扑惴ㄒ越鉀Q控制系統(tǒng)在模型參數(shù)變化時(shí)產(chǎn)生的不穩(wěn)定,通過(guò)實(shí)驗(yàn)仿真驗(yàn)證了控制算法的有效性。
[Abstract]:The wheeled mobile robot has flexible and stable motion performance, which makes it have a broad application prospect in production and life. In recent years, more and more attention has been paid to the research of mobile robot. The trajectory tracking problem in motion control is studied. Firstly, the nonholonomic constraint equation of a four-wheel sliding steering robot is established. Based on the kinematics model of the mobile robot, the inverse and inverse sliding mode trajectory tracking control laws are designed, respectively. The global stability of the system under two sets of control laws is proved by constructing the Lyapunov function. According to the tracking results of circular and S-shaped trajectories, the tracking effectiveness is compared and analyzed. Then, a slip coefficient with step variation is designed to simulate the movement of mobile robot on the actual road surface. Aiming at the phenomenon that the position and attitude retention ability of conventional inversion control decreases under the condition of model parameter fluctuation, a new tracking error equation is established, and the slip coefficient between wheels is estimated in real time by using the estimation function to correct the output of the controller. The control stability of the control system under the condition of object model parameter fluctuation is improved, and the effectiveness of the control algorithm is proved by the experimental simulation results. The lateral slippage of the car body is obvious, and the lateral slip angle of the mobile robot can not be ignored. Therefore, a sliding mode tracking controller with three switching surfaces is designed according to the trajectory tracking error equation with lateral velocity. The simulation results verify the control effect. An adaptive sliding mode control algorithm is designed to solve the instability of the control system when the model parameters change. The effectiveness of the control algorithm is verified by experimental simulation.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：1520624