摘要
针对传统移动平台无法满足在狭小空间内作业的问题,在对Mecanum轮结构及其工作原理进行分析的基础上,建立了其一般形式的运动学模型,并基于STM32和模糊PID自整定算法设计了一种嵌入式控制系统。由VB.NET编写了上位机软件,通过蓝牙无线控制平台的运动,并采用模糊PID自整定控制算法实现了闭环控制;经过多组典型实验,结合测距传感器,对该移动平台进行了运动性能测试。测试结果表明:该全向移动平台的运动学模型是合理的,控制系统运行可靠,样机能较好地实现平面内的全方位运动,模糊PID自整定控制算法控制精度高、实时性好,可满足工程应用要求。
Aiming at the traditional mobile platform can not meet the problem of working in a narrow space,based on the analysis of structure and work principle of the Mecanum wheel,the kinematics model of the omni-directional movement platform was established,and its embedded control system was designed based on STM32 and fuzzy self-turning PID algorithm. Software in host computer was programmed by VB. NET,which controlsthe platform movement via Bluetooth wireless communication and fuzzy self-turning PID control algorithm to build a closed-loop control. The whole motion performance of the mobile platform was tested by several typical experiments with the use of rangefinder sensor.The results indicate that the kinematics model of the omnidirectional movement platform is reasonable,the control system runs stably,the prototype can implement arbitrary directional movement in the plane,the fuzzy self-turning PID control algorithm has high control precision and a good real-time performance that can meet the requirements in the practical engineering applications.
作者
章玮滨
唐炜
ZHANG Wei-bin;TANG Wei(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003,China)
出处
《机电工程》
CAS
北大核心
2018年第7期679-684,共6页
Journal of Mechanical & Electrical Engineering
基金
江苏省普通高校研究生实践创新计划项目(SJLX15_0524)
