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Point calm increment intelligent control method of two-wheeled robot

A wheeled robot, intelligent control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems that do not involve controller design, no in-depth research, etc.

Inactive Publication Date: 2011-04-20
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this paper did not study the influence of the robot's acceleration and velocity constraints on the robot's point-stabilized motion control and its trajectory, and did not also involve the controller design issues under nonholonomic motion constraints and acceleration and velocity constraints.

Method used

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  • Point calm increment intelligent control method of two-wheeled robot
  • Point calm increment intelligent control method of two-wheeled robot
  • Point calm increment intelligent control method of two-wheeled robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0104] In order to illustrate the feasibility of the inventive method, the present embodiment adopts the incremental subsection proportional control of the inventive method (that is, in this embodiment, the task adaption level adopts the incremental subsection proportional control, and the operation control level adopts the incremental subsection proportional control). Wheel speed following control; here, the incremental segmented proportional control is abbreviated as INC-HSIC), and the two-wheeled wheeled robot is tested from the initial pose O (0, 0, 0) to a (4000, 4000), b (4000,0), c(4000,-4000), d(0,-4000), e(-4000,-4000), f(-4000,0), g(-4000,4000), and h(0 , 4000) to the fixed-point movement (unit: mm) of these 8 target points (the selected 8 target points include all directions around the initial point O, in order to achieve the purpose of a more comprehensive test). For the motion control of any one of the 8 target points, the control steps of the incremental controll...

Embodiment 2

[0130] In order to further illustrate the effectiveness of the inventive method relative to the prior art, the present embodiment adopts the incremental proportional control (INCP), the incremental proportional cosine control (INCP-COS) and the incremental subsection ratio of the inventive method. The control (INC-HSIC) is compared with the classical proportional control (P), proportional cosine control (P-COS) and segmented proportional control (MP-HSIC) using the existing technology. A control method from the initial pose O(0,0,0) to a(4000,4000), b(4000,0), c(4000,-4000), d(0,-4000), e(- 4000, -4000), f (-4000, 0), g (-4000, 4000) and h (0, 4000) to the fixed point movement (unit: mm); among them, the segmental proportional control The specific implementation is the same as in Example 1. Through testing, analyze the above six control methods:

[0131] 1) Compare the system corresponding indicators of the above six control methods: adopt "whether it is reachable" and "arri...

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Abstract

The invention provides a point calm increment intelligent control method of a two-wheeled robot. In the control method, an increment controller containing a task adaption level and an operation control level is provided, and an expected wheel speed as ratio controller output in the prior art is used as an expected wheel speed adaptive value of the task adaption level output in the increment controller provided by the invention, thereby solving the problem of stability of point calm control caused by the non-holonomic constraints problem of the robot; and the operation control level is added to carry out further increment wheel speed following control on the expected wheel speed adaptive value, thereby solving the stability problem of the point calm control caused by acceleration and speed constraint limitation which necessarily exist in a motion execution system, ensuring that the motion curve of the good robot is obtained, and effectively improving the rapidity of the motion of the robot simultaneously.

Description

technical field [0001] The invention belongs to the technical field of intelligent control applications, in particular to a point-stabilized incremental intelligent control method for a two-wheeled wheeled robot. Background technique [0002] The problem of motion control to a fixed point is the basic problem of the bottom layer control of a two-wheeled robot, that is, the problem of point stabilization. The motion control model of a two-wheeled robot is as follows: figure 1 As shown, mainly by the controller G C , double closed-loop wheel speed-following motor system model G for left and right wheels L and G R , and sports model G M It consists of four modules; the input vector of the whole motion control model is [e d , e θ ] T , e d is the current point (x, y) of the robot and the target point (x T ,y T ) distance deviation between, e θ is the robot’s current orientation θ and the robot’s direction from the current point to the target point θ T The angular dev...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 王牛李楠杨祖元张琦
Owner CHONGQING UNIV
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