CN111830994B - Wheel type mobile robot speed control method and system - Google Patents
Wheel type mobile robot speed control method and system Download PDFInfo
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Abstract
The invention discloses a method and a system for controlling the speed of a wheeled mobile robot, wherein the method comprises the following steps: constructing a controlled object dynamic model; determining control module parameters according to the dynamic coupling terms of the dynamic model of the controlled object; constructing a forward speed control model and a steering speed control model based on the control module parameters; and controlling the mobile robot to move according to the forward speed control model and the steering speed control model. According to the invention, by constructing the advancing speed control model and the steering speed control model, the influence of unbalanced load and motion coupling is overcome, and the motion control precision of the mobile robot is improved.
Description
Technical Field
The invention relates to the technical field of wheel type mobile robot control, in particular to a method and a system for controlling the speed of a wheel type mobile robot.
Background
The motion control of the wheeled mobile robot is a typical control problem and has wide application prospect in the fields of military, industry and the like. Due to the influences of factors such as unbalanced load of the left wheel and the right wheel, kinematic coupling and the like, the mobile robot generates large deviation in the motion process. Therefore, the influence of unbalanced load and kinematic coupling is overcome, and the method plays an important role in improving the motion control precision of the mobile robot.
The existing non-linear control method for the wheeled mobile robot comprises sliding mode control, backstepping control and the like, and in speed control, the method is mainly based on the design of a dynamic model controller, so that accurate dynamic modeling is required for the wheeled mobile robot, and the dynamic model is difficult to apply to a conventional robot. In particular, when the robot has unbalanced load, the dynamic model of the robot is changed greatly, and the influence of the motion speed coupling on the control performance becomes very obvious.
Disclosure of Invention
Based on this, the invention aims to provide a method and a system for controlling the speed of a wheel type mobile robot, so as to overcome the influence of unbalanced load and motion coupling and improve the motion control precision of the mobile robot.
In order to achieve the above object, the present invention provides a method for controlling a speed of a wheeled mobile robot, the method comprising:
step S1: constructing a controlled object dynamic model;
step S2: determining control module parameters according to the dynamic coupling terms of the dynamic model of the controlled object;
step S3: constructing a forward speed control model and a steering speed control model based on the control module parameters;
step S4: and controlling the mobile robot to move according to the forward speed control model and the steering speed control model.
Optionally, the specific formula of the controlled object dynamic model is as follows:
where v and w represent the forward and steering speeds, respectively, B represents the speed static transformation matrix, B represents the spacing between the geometric centres of the two driving wheels, GL,GRServo drive models, u, representing left and right wheels, respectivelyvAnd uwThe control device respectively represents the given input of the controlled object dynamic models in the two control loops, the main diagonal elements respectively represent the controlled object models in the two control loops, and the auxiliary diagonal elements respectively represent the dynamic coupling terms in the two control loops.
Optionally, the forward speed control model has a specific formula:
wherein, Cv(s) represents advancingSpeed PID controller, Fv(s) denotes a forward speed input filter, τcvControl time constant, τ, corresponding to the forward speedqvObserver time constant, λ, representing the correspondence of the forward speedvAn adjustable parameter indicative of the correspondence of the forward speed,
high-frequency gain coefficient, gamma, corresponding to the forward speedvHigh frequency matching coefficient, K, corresponding to the forward speedpvIndicating the proportionality coefficient, K, corresponding to the forward speedivIntegral coefficient, K, representing the speed of advancedvA differential coefficient corresponding to the forward speed is indicated.
Optionally, the steering speed control model has a specific formula:
wherein, Cw(s) PID controller for steering speed, Fw(s) denotes a steering speed input filter, τcwControl time constant, τ, corresponding to steering speedqwObserver time constant, λ, representing the correspondence of steering speedwAn adjustable parameter indicative of the steering speed corresponds,
high frequency gain coefficient, gamma, representing steering speedwHigh frequency matching coefficient, K, corresponding to steering speedpwProportional coefficient, K, indicating the steering speediwIntegral coefficient, K, representing steering speeddwA differential coefficient corresponding to the steering speed is indicated.
Optionally, the controlling the movement of the mobile robot according to the forward speed control model and the steering speed control model specifically includes:
step S41: given a desired forward speed and a desired steering speed of the mobile robot;
step S42: acquiring the actual advancing speed and the actual steering speed of the mobile robot at the last moment;
step S43: controlling the controlled object dynamic model according to the expected forward speed, the actual forward speed at the previous moment and the forward speed control model to obtain the actual forward speed at the next moment, and controlling the controlled object dynamic model according to the expected steering speed, the actual steering speed at the previous moment and the steering speed control model to obtain the actual steering speed at the next moment;
step S44: determining the rotating speeds of left and right driving wheels of the mobile robot based on the actual forward speed and the actual steering speed at the next moment;
step S45: and respectively controlling the left driving wheel and the right driving wheel of the mobile robot according to the rotating speeds of the left driving wheel and the right driving wheel of the mobile robot.
Optionally, the determining parameters of the control module according to the dynamic coupling term of the dynamic model of the controlled object specifically includes:
step S21: determining a control time constant corresponding to the forward speed by combining simulation;
step S22: determining a time constant relation corresponding to a forward speed and a steering speed based on a dynamic coupling term of the dynamic model of the controlled object;
step S23: determining a control time constant corresponding to the steering speed based on the time constant relation;
step S24: determining an observer time constant corresponding to the forward speed and an observer time constant corresponding to the steering speed based on the time constant relationship, the control time constant corresponding to the forward speed and the control time constant corresponding to the steering speed;
step S25: determining an adjustable parameter corresponding to the forward speed based on a control time constant corresponding to the forward speed, and determining an adjustable parameter corresponding to the steering speed based on a control time constant corresponding to the steering speed;
step S26: determining a high-frequency gain coefficient corresponding to a forward speed and a high-frequency gain coefficient corresponding to a steering speed through an identification method;
step S27: and enabling the high-frequency matching coefficient corresponding to the forward speed and the high-frequency matching coefficient corresponding to the steering speed to be zero.
The present invention also provides a speed control system of a wheeled mobile robot, the system comprising:
the controlled object dynamic model building module is used for building a controlled object dynamic model;
the control module parameter determining module is used for determining control module parameters according to the dynamic coupling items of the dynamic model of the controlled object;
the speed control model building module is used for building a forward speed control model and a steering speed control model based on the control module parameters;
and the control module is used for controlling the movement of the mobile robot according to the advancing speed control model and the steering speed control model.
Optionally, the specific formula of the controlled object dynamic model is as follows:
where v and w represent the forward and steering speeds, respectively, B represents the speed static transformation matrix, B represents the spacing between the geometric centres of the two driving wheels, GL,GRServo drive models, u, representing left and right wheels, respectivelyvAnd uwThe control device respectively represents the given input of the controlled object dynamic models in the two control loops, the main diagonal elements respectively represent the controlled object models in the two control loops, and the auxiliary diagonal elements respectively represent the dynamic coupling terms in the two control loops.
Optionally, the control module specifically includes:
a given unit for giving a desired forward speed and a desired steering speed of the mobile robot;
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the actual advancing speed and the actual steering speed of the mobile robot at the last moment;
a next-time speed parameter determining unit, configured to control the controlled object dynamic model according to the expected forward speed, the previous-time actual forward speed, and the forward speed control model, to obtain a next-time actual forward speed, and control the controlled object dynamic model according to the expected steering speed, the previous-time actual steering speed, and the steering speed control model, to obtain a next-time actual steering speed;
a left and right driving wheel rotating speed determining unit which determines the rotating speed of the left and right driving wheels of the mobile robot based on the actual forward speed and the actual steering speed at the next moment;
and the control unit is used for respectively controlling the left driving wheel and the right driving wheel of the mobile robot according to the rotating speeds of the left driving wheel and the right driving wheel of the mobile robot.
Optionally, the control module parameter determining module specifically includes:
the first parameter determining unit is used for determining a control time constant corresponding to the advancing speed by combining simulation;
the second parameter determining unit is used for determining a time constant relation corresponding to the advancing speed and the steering speed on the basis of the dynamic coupling term of the dynamic model of the controlled object;
a third parameter determination unit that determines a control time constant corresponding to the steering speed based on the time constant relationship;
a fourth parameter determination unit that determines an observer time constant corresponding to the forward speed and an observer time constant corresponding to the steering speed based on the time constant relationship, the control time constant corresponding to the forward speed, and the control time constant corresponding to the steering speed;
the fifth parameter determining unit is used for determining an adjustable parameter corresponding to the forward speed based on a control time constant corresponding to the forward speed and determining an adjustable parameter corresponding to the steering speed based on a control time constant corresponding to the steering speed;
a sixth parameter determining unit for determining a high frequency gain coefficient corresponding to a forward speed and a high frequency gain coefficient corresponding to a steering speed by an identification method;
and the seventh parameter determining unit is used for enabling the high-frequency matching coefficient corresponding to the advancing speed and the high-frequency matching coefficient corresponding to the steering speed to be zero.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a method and a system for controlling the speed of a wheeled mobile robot, wherein the method comprises the following steps: constructing a controlled object dynamic model; determining control module parameters according to the dynamic coupling terms of the dynamic model of the controlled object; constructing a forward speed control model and a steering speed control model based on the control module parameters; and controlling the mobile robot to move according to the forward speed control model and the steering speed control model. According to the invention, by constructing the advancing speed control model and the steering speed control model, the influence of unbalanced load and motion coupling is overcome, and the motion control precision of the mobile robot is improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flowchart of a method for controlling the speed of a wheeled mobile robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a two-wheeled differential wheel type mobile robot model according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a speed control strategy of the wheeled mobile robot according to the embodiment of the present invention;
FIG. 4 is a diagram of a simulation result of single-loop control according to an embodiment of the present invention;
FIG. 5 is a diagram of an experimental result of a speed control system according to an embodiment of the present invention;
FIG. 6 is a graph of the results of a speed control experiment under unbalanced load in accordance with an embodiment of the present invention;
FIG. 7 is a graph showing the results of the trajectory tracking experiment under unbalanced load according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a speed control method and a speed control system for a wheel type mobile robot, so as to overcome the influence of unbalanced load and motion coupling and improve the motion control precision of the mobile robot.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present invention discloses a method for controlling the speed of a wheeled mobile robot, comprising:
step S1: constructing a controlled object dynamic model;
step S2: determining control module parameters according to the dynamic coupling terms of the dynamic model of the controlled object;
step S3: constructing a forward speed control model and a steering speed control model based on the control module parameters;
step S4: and controlling the mobile robot to move according to the forward speed control model and the steering speed control model.
The individual steps are discussed in detail below:
step S1: constructing a controlled object dynamic model, wherein the specific formula is as follows:
where v and w represent the forward and steering speeds, respectively, B represents the speed static transformation matrix, B represents the spacing between the geometric centres of the two driving wheels, GL,GRThe servo drive model representing the left and right wheels respectively, usually GL≈GR，uvAnd uwBoth represent the given input of the dynamic model of the controlled object in two control loops, and the main diagonal elements are respectively controlled by twoThe controlled object model and the secondary diagonal elements in the loops are dynamic coupling terms in the two control loops respectively. In the dynamic model, the parameter b determines the coupling magnitude of the two loops.
Step S2: determining control module parameters according to the dynamic coupling terms of the dynamic model of the controlled object, wherein the control module parameters comprise: control time constant tau corresponding to forward speedcvObserver time constant τ corresponding to forward speedqvAdjustable parameter lambda corresponding to advancing speedvHigh frequency gain coefficient corresponding to forward speed
High-frequency matching coefficient gamma corresponding to advancing speedvControl time constant τ corresponding to steering speedcwObserver time constant tau corresponding to steering speedqwAdjustable parameter lambda corresponding to steering speedwHigh frequency gain coefficient corresponding to steering speed
High frequency matching coefficient gamma corresponding to steering speedw。
Step S2 specifically includes:
step S21: determining a control time constant tau corresponding to the forward speed by combining simulationcv。
Step S22: determining a time constant relation corresponding to the advancing speed and the steering speed w based on the dynamic coupling term of the dynamic model of the controlled object; the method specifically comprises the following steps:
judging the dynamic coupling item of the dynamic model of the controlled object
Whether or not greater than
If it is not
The influence of the forward speed vcontrol loop on the steering speed w is explainedThe larger the disturbance rejection capability of the steering speed w control is required to be stronger than that of the forward speed v loop from the viewpoint of active disturbance rejection control, namely: tau isqw＜τqvCorresponding to τcw＜τcv(ii) a If:
the steering speed w control loop has a large influence on the forward speed v, and from the perspective of active disturbance rejection control, the disturbance rejection capability of the forward speed v control is required to be stronger than that of the steering speed w loop, that is: tau isqw＞τqvCorresponding to τcw＞τcv。
Step S23: determining control time constant tau corresponding to steering speed based on time constant relationcw。
Step S24: control time constant tau corresponding to advancing speed based on time constant relationcvControl time constant tau corresponding to steering speedcwDetermining observer time constant tau corresponding to forward speedqvAn observer time constant τ qw corresponding to the steering speed; in particular, taucvIs tauqv3-10 times of the total weight of the composition; tau iscwIs tauqw3-10 times of the total weight of the powder.
Step S25: control time constant tau based on forward speed correspondencecvDetermining an adjustable parameter lambda corresponding to the forward speedvControl time constant τ corresponding to steering speedcwDetermining an adjustable parameter lambda corresponding to the steering speedw。
For a system needing high response speed, the control time constant in the expected model is properly reduced, and the adjustable parameter is reduced; for a system needing slow response speed, the control time constant is properly increased, and the adjustable parameter is increased. Thus this patent selects
Step S26: determining high-frequency gain coefficient corresponding to forward speed by methods such as over-identification
High frequency gain factor corresponding to steering speed
Step S27: high frequency matching coefficient gamma corresponding to advancing speedvHigh frequency matching coefficient gamma corresponding to steering speedwAre all zero.
Step S3: constructing a forward speed control model and a steering speed control model based on the control module parameters; the specific formula of the forward speed control model is as follows:
wherein, Cv(s) forward speed PID controller, Fv(s) denotes a forward speed input filter, τcvControl time constant, τ, corresponding to the forward speedqvObserver time constant, λ, representing the correspondence of the forward speedvAn adjustable parameter indicative of the correspondence of the forward speed,
high-frequency gain coefficient, gamma, corresponding to the forward speedvHigh frequency matching coefficient, K, corresponding to the forward speedpvIndicating the proportionality coefficient, K, corresponding to the forward speedivIntegral coefficient, K, representing the speed of advancedvA differential coefficient corresponding to the forward speed is indicated.
The steering speed control model has the specific formula as follows:
wherein, Cw(s) PID controller for steering speed, Fw(s) denotes a steering speed input filter, τcwControl time constant, τ, corresponding to steering speedqwObserver time constant, λ, representing the correspondence of steering speedwAn adjustable parameter indicative of the steering speed corresponds,
high frequency gain coefficient, gamma, representing steering speedwHigh frequency matching coefficient, K, corresponding to steering speedpwProportional coefficient, K, indicating the steering speediwIntegral coefficient, K, representing steering speeddwA differential coefficient corresponding to the steering speed is indicated.
Step S4: according to advance speed control model with turn to speed control model control mobile robot motion, specifically include:
step S41: a desired forward speed and a desired steering speed of the mobile robot are given.
Step S42: and acquiring the actual forward speed and the actual steering speed of the mobile robot at the last moment.
Step S43: and controlling the controlled object dynamic model according to the expected forward speed, the actual forward speed at the previous moment and the forward speed control model to obtain the actual forward speed at the next moment, and controlling the controlled object dynamic model according to the expected steering speed, the actual steering speed at the previous moment and the steering speed control model to obtain the actual steering speed at the next moment.
Step S44: determining the rotating speeds of left and right driving wheels of the mobile robot based on the actual forward speed and the actual steering speed at the next moment, wherein the specific formula is as follows:
wherein v isL,vRThe left and right driving wheel rotating speeds are respectively represented, v and w are respectively represented as the actual advancing speed and the actual steering speed at the next moment, B is a speed static transformation matrix, and B is the distance between the geometric centers of the two driving wheels.
Step S45: and respectively controlling the left driving wheel and the right driving wheel of the mobile robot according to the rotating speeds of the left driving wheel and the right driving wheel of the mobile robot.
Specific examples are:
fig. 2 is a schematic diagram of a model of a two-wheeled differential wheel-type mobile robot according to an embodiment of the present invention, and fig. 3 is a schematic diagram of a speed control strategy of the wheel-type mobile robot according to an embodiment of the present invention, wherein a distance b between geometric centers of two driving wheels is 0.33m, and a wheel diameter is 0.127 m.
Establishing a dynamic decoupling controlled object model, wherein the specific formula is as follows:
identifying to obtain high frequency gain coefficient
Taking gammav＝γ w0. Since b is small at 0.33m, it is preferable that
It can be seen that the forward speed vcontrol loop has a greater effect on the steering speed w. From the perspective of active disturbance rejection control, the disturbance rejection capability of the steering speed w control is required to be stronger than that of the forward speed v loop, that is: tau isqw＜τqvCorresponding to τcw＜τcv. According to the principle, the control module parameters of the two loops are selected as shown in table 1. Thus the controller C of the forward speed control loopv(s) and an input filter Fv(s) are respectively:
controller C of the steering speed control loopw(s) and an input filter Fw(s) are respectively:
table 1 control module parameter selection table
And combining the speed control modules of the two loops to perform single-loop control simulation analysis on the identification model. The given inputs to both loops are:
and adding a disturbance with the amplitude of 0.2 when t is 8s, wherein the simulation result is shown in fig. 4, and the simulation result shows that: 1) the speed controller has excellent disturbance suppression effect, and the parameter bandwidth adjusting effect is obvious; 2) through bandwidth allocation, the disturbance suppression capability of a steering speed w loop is stronger than that of a forward speed v loop, and the expected effect is achieved.
In a real-world experiment, the expected speed signal of a given robot is:
when t is 8s and t is 12s, the disturbance is applied to the left and right servo motors respectively as follows:
dl＝-0.2·1(t-8),dr＝0.2·1(t-12).
as shown in fig. 5, the two loops have very small mutual influence in the speed adjusting process, and independent adjustment can be realized by the speed control method of the mobile robot provided by the invention; when there is disturbance in the left and right motors, the disturbance influence can be well inhibited by the speed control modules of the two loops, so that the system has strong anti-jamming capability.
When executing an application task, a mobile robot is generally required to have a trajectory tracking capability. The invention adds a type of unbalanced load (the left side is added with 12kg load) on the robot, and verifies the effectiveness of the motion speed control by using the effect of tracking the track of the mobile robot.
The variable speed input signals for a given robot are:
at this desired speed, the robot should move on a circular orbit. The control of the movement speed given in fig. 6 shows that the control of the movement speed is still good under unbalanced load conditions and that the movement trajectory also in fig. 7 is almost highly coincident with the no-load situation. Therefore, the speed control system of the mobile robot provided by the invention can well realize the motion speed control of the mobile robot, has strong anti-interference capability and has important function and significance in the high-precision motion control of the robot.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A method for controlling the speed of a wheeled mobile robot, the method comprising:
step S1: constructing a controlled object dynamic model;
step S2: determining control module parameters according to the dynamic coupling terms of the dynamic model of the controlled object;
step S3: constructing a forward speed control model and a steering speed control model based on the control module parameters;
step S4: controlling the mobile robot to move according to the forward speed control model and the steering speed control model;
step S2: determining control module parameters according to the dynamic coupling terms of the dynamic model of the controlled object, specifically comprising:
step S21: determining a control time constant corresponding to the forward speed by combining simulation;
step S22: determining a time constant relation corresponding to the forward speed and the steering speed based on the dynamic coupling term of the dynamic model of the controlled object;
step S23: determining a control time constant corresponding to the steering speed based on the time constant relation;
step S24: determining an observer time constant corresponding to the forward speed and an observer time constant corresponding to the steering speed based on the time constant relationship, the control time constant corresponding to the forward speed and the control time constant corresponding to the steering speed;
step S25: determining an adjustable parameter corresponding to the forward speed based on a control time constant corresponding to the forward speed, and determining an adjustable parameter corresponding to the steering speed based on a control time constant corresponding to the steering speed;
step S26: determining a high-frequency gain coefficient corresponding to a forward speed and a high-frequency gain coefficient corresponding to a steering speed through an identification method;
step S27: and enabling the high-frequency matching coefficient corresponding to the forward speed and the high-frequency matching coefficient corresponding to the steering speed to be zero.
2. The method for controlling the speed of a wheeled mobile robot according to claim 1, wherein the dynamic model of the controlled object is specifically formulated as:
where v and w represent the forward and steering speeds, respectively, B represents the speed static transformation matrix, B represents the spacing between the geometric centres of the two driving wheels, GL,GRRespectively represent the left and rightServo drive model of the wheel uvAnd uwThe control device respectively represents the given input of the controlled object dynamic models in the two control loops, the main diagonal elements respectively represent the controlled object models in the two control loops, and the auxiliary diagonal elements respectively represent the dynamic coupling terms in the two control loops.
3. The method for controlling the speed of a wheeled mobile robot according to claim 1, wherein the forward speed control model is defined by the following formula:
wherein, Cv(s) forward speed PID controller, Fv(s) denotes a forward speed input filter, τcvControl time constant, τ, corresponding to the forward speedqvObserver time constant, λ, representing the correspondence of the forward speedvAn adjustable parameter indicative of the correspondence of the forward speed,
high-frequency gain coefficient, gamma, corresponding to the forward speedvHigh frequency matching coefficient, K, corresponding to the forward speedpvIndicating the proportionality coefficient, K, corresponding to the forward speedivIntegral coefficient, K, representing the speed of advancedvA differential coefficient corresponding to the forward speed is indicated.
4. The method for controlling the speed of a wheeled mobile robot according to claim 1, wherein the steering speed control model is defined by the following formula:
wherein, Cw(s) PID controller for steering speed, Fw(s) denotes a steering speed input filter, τcwIndicating steering speedCorresponding control time constant, τqwObserver time constant, λ, representing the correspondence of steering speedwAn adjustable parameter indicative of the steering speed corresponds,
high frequency gain coefficient, gamma, representing steering speedwHigh frequency matching coefficient, K, corresponding to steering speedpwProportional coefficient, K, indicating the steering speediwIntegral coefficient, K, representing steering speeddwA differential coefficient corresponding to the steering speed is indicated.
5. The method for controlling the speed of a wheeled mobile robot according to claim 1, wherein the controlling the movement of the mobile robot according to the forward speed control model and the steering speed control model specifically comprises:
step S41: given a desired forward speed and a desired steering speed of the mobile robot;
step S42: acquiring the actual advancing speed and the actual steering speed of the mobile robot at the last moment;
step S43: controlling the controlled object dynamic model according to the expected forward speed, the actual forward speed at the previous moment and the forward speed control model to obtain the actual forward speed at the next moment, and controlling the controlled object dynamic model according to the expected steering speed, the actual steering speed at the previous moment and the steering speed control model to obtain the actual steering speed at the next moment;
step S44: determining the rotating speeds of left and right driving wheels of the mobile robot based on the actual forward speed and the actual steering speed at the next moment;
step S45: and respectively controlling the left driving wheel and the right driving wheel of the mobile robot according to the rotating speeds of the left driving wheel and the right driving wheel of the mobile robot.
6. A wheeled mobile robot speed control system, the system comprising:
the controlled object dynamic model building module is used for building a controlled object dynamic model;
the control module parameter determining module is used for determining control module parameters according to the dynamic coupling items of the dynamic model of the controlled object;
the speed control model building module is used for building a forward speed control model and a steering speed control model based on the control module parameters;
the control module is used for controlling the movement of the mobile robot according to the forward speed control model and the steering speed control model;
the control module parameter determining module specifically comprises:
the first parameter determining unit is used for determining a control time constant corresponding to the advancing speed by combining simulation;
the second parameter determining unit is used for determining a time constant relation corresponding to the advancing speed and the steering speed on the basis of the dynamic coupling term of the dynamic model of the controlled object;
a third parameter determination unit that determines a control time constant corresponding to the steering speed based on the time constant relationship;
a fourth parameter determination unit that determines an observer time constant corresponding to the forward speed and an observer time constant corresponding to the steering speed based on the time constant relationship, the control time constant corresponding to the forward speed, and the control time constant corresponding to the steering speed;
the fifth parameter determining unit is used for determining an adjustable parameter corresponding to the forward speed based on a control time constant corresponding to the forward speed and determining an adjustable parameter corresponding to the steering speed based on a control time constant corresponding to the steering speed;
a sixth parameter determining unit for determining a high frequency gain coefficient corresponding to a forward speed and a high frequency gain coefficient corresponding to a steering speed by an identification method;
and the seventh parameter determining unit is used for enabling the high-frequency matching coefficient corresponding to the advancing speed and the high-frequency matching coefficient corresponding to the steering speed to be zero.
7. The system for controlling the speed of a wheeled mobile robot of claim 6, wherein the dynamic model of the controlled object is formulated as:
where v and w represent the forward and steering speeds, respectively, B represents the speed static transformation matrix, B represents the spacing between the geometric centres of the two driving wheels, GL,GRServo drive models, u, representing left and right wheels, respectivelyvAnd uwThe control device respectively represents the given input of the controlled object dynamic models in the two control loops, the main diagonal elements respectively represent the controlled object models in the two control loops, and the auxiliary diagonal elements respectively represent the dynamic coupling terms in the two control loops.
8. The wheeled mobile robot speed control system of claim 6, wherein the control module specifically comprises:
a given unit for giving a desired forward speed and a desired steering speed of the mobile robot;
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the actual advancing speed and the actual steering speed of the mobile robot at the last moment;
a next-time speed parameter determining unit, configured to control the controlled object dynamic model according to the expected forward speed, the previous-time actual forward speed, and the forward speed control model, to obtain a next-time actual forward speed, and control the controlled object dynamic model according to the expected steering speed, the previous-time actual steering speed, and the steering speed control model, to obtain a next-time actual steering speed;
a left and right driving wheel rotating speed determining unit which determines the rotating speed of the left and right driving wheels of the mobile robot based on the actual forward speed and the actual steering speed at the next moment;
and the control unit is used for respectively controlling the left driving wheel and the right driving wheel of the mobile robot according to the rotating speeds of the left driving wheel and the right driving wheel of the mobile robot.
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| CN109782759A (en) * | 2019-01-08 | 2019-05-21 | 华侨大学 | A kind of Approximate Decoupling of wheeled mobile robot, quick Trajectory Tracking Control method |
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| CN109782759A (en) * | 2019-01-08 | 2019-05-21 | 华侨大学 | A kind of Approximate Decoupling of wheeled mobile robot, quick Trajectory Tracking Control method |
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