| 基于模糊PD控制的四轮驱动全向移动机器人速度补偿控制器研究 |
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| 引用本文：匡建辉，杨宜民.基于模糊PD控制的四轮驱动全向移动机器人速度补偿控制器研究[J].计算技术与自动化,2011,(1):21-25 |
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| 中文摘要:由于四轮驱动全向移动机器人的四个轮子之间存在机械差异与耦合关系，即使单个电机的控制参数达到最优，整个机器人的控制效果也未必最佳。针对这一问题，设计一种速度补偿控制器，基于模糊控制与PD控制理论，能够在各种误差e与误差变化量Δe的情况下，对机器人四个轮子的速度进行有效补偿。通过在Matlab-Simulink环境下的仿真实验表明，在使用速度补偿控制器后，机器人对线速度及角速度的跟随性能明显提高，改善了轨迹跟随的精度。 |
| 中文关键词:全向移动机器人 速度补偿器 模糊-比例微分控制 运动控制 |
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| Velocity Compensate Controller of Four wheel Drive Omni directional Mobile Robots Based on Fuzzy PD Control Method |
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| Abstract:Four wheel Drive Omni directional Mobile Robots has mechanical difference in four wheels. Even each motor has the optimal parameter, the Robot may not be precisely controlled. This paper proposes an velocity compensate controller based on Fuzzy PD control method, which can compensate velocity for each wheel real-timely at various error and error rate. The result of simulation experiment in Matlab-Simulink environmental illustrate that the Robot has a obvious improvement in following line speed and Angular velocity,as result,better performance in trajectory tracking. |
| keywords:Omni directional Mobile robots velocity compensate controller Fuzzy PD control motion control |
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