摘要
针对移动机器人追踪误差较大、输入扭矩较大的问题,设计了黎卡提微分控制器,并对控制效果进行仿真验证。创建了轮式移动协同机器人,推导机器人运动动力学方程式,引用黎卡提微分方程式,设计出状态依赖性的黎卡提微分控制器。在非完整约束下,推导出机器人状态相关系数参数化和控制结构,实现了黎卡提微分控制器下的移动机械臂运动的稳定性。采用MATLAB软件对移动机器人运动输出误差和输入转矩进行仿真,结果显示:该方法解决了机器人非完整约束系统的不稳定性问题,其输出最大误差下降了424%,输入转矩响应时间缩短了50%。采用黎卡提微分控制器,能够提高机器人追踪输出精度和运动稳定性。研究结果为深入研究机器人控制方法提供了理论依据。
Aiming at the problem that the tracking error of mobile robot is large and the input torque is large,the Riccati differential controller is designed and the control effect is verified by simulation.A wheeled mobile cooperative robot was created,the dynamic equation of robot motion was derived,and a state-dependent Riccati differential controller was designed by referring to Riccati differential equation.Under the nonholonomic constraints,the parameterization of robot state correlation coefficient and control structure were deduced,and the Riccati differential controller was achieved of the stability of the moving manipulator.MATLAB software was used to simulate the motion output error and input torque of the mobile robot.The results show that the method overcomes the instability problem of the robot s nonholonomic constraint system,with the maximum output error reduced by 42.4%and the response time of input torque shortened by 50%.The Riccati differential controller can improve the tracking accuracy and the motion stability of the robot.The research research results provide a theoretical basis for the in-depth study of robot control methods.
作者
赵龙
田祥
ZHAO Long;TIAN Xiang(Base Department,Shandong Polytechnic,Jinan Shandong 250104,China;School of Information Science and Engineering,Shandong Agricultural University,Taian Shandong 271018,China)
出处
《机床与液压》
北大核心
2019年第23期94-97,110,共5页
Machine Tool & Hydraulics
基金
山东省自然科学基金重点资助项目(ZR2015QZ008)
