Fuzzy sliding mode drive control method for wheeled mobile robot

A mobile robot, fuzzy controller technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems affecting the control accuracy of the system and the inability to eliminate system chattering

Inactive Publication Date: 2013-01-16
SHANGHAI UNIV
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AI Technical Summary

Problems solved by technology

Although the fuzzy control algorithm has the advantages of strong robustness and strong anti-interference, the parameters of the fuzzy controller must be determined repeatedly; the sliding mode control algorithm does not depend on the model of the system, but its disadvantage is that the chattering of the system itself cannot Elimination, which seriously affects the control accuracy of the system

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  • Fuzzy sliding mode drive control method for wheeled mobile robot
  • Fuzzy sliding mode drive control method for wheeled mobile robot
  • Fuzzy sliding mode drive control method for wheeled mobile robot

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Embodiment Construction

[0045] A preferred implementation of the present invention is described in detail as follows in conjunction with accompanying drawing:

[0046] In this embodiment, a six-wheeled mobile robot is taken as an example, and a fuzzy sliding mode driving control method embodiment of a wheeled mobile robot is further described in detail in conjunction with the accompanying drawings, but this embodiment cannot be used to limit the present invention. Invented similar methods should all be included in the protection scope of the present invention.

[0047] The specific implementation steps are as follows:

[0048] 1) Combining with the ground mechanics theory, a wheeled mobile robot driving dynamics model is established. combine figure 1 , figure 2 illustrate, figure 1 is the contact characteristic diagram between a single wheel and the ground when the wheel of the wheeled mobile robot is running. In the figure, θ m is the maximum normal stress angle, r is the wheel radius, T...

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Abstract

The invention relates to a fuzzy sliding mode drive control method for a wheeled mobile robot, which comprises the following steps: based on a vehicle-terrain mechanic theory, the contact characteristic between rigid wheels of the wheeled mobile robot and the terrain is analyzed, and a running dynamic model of the wheeled mobile robot is established, with a wheel slip ratio as a system state variable; based on systematic characteristics, the control input and the control output of a system are determined, and a control model of the wheeled mobile robot is established; and a wheel slip ratio control system of the wheeled mobile robot is established. The method is applied to the drive control on the wheeled mobile robot and has the advantages that the wheel slip ratio of the wheeled mobile robot is controlled at an expected value and the wheel slip degree can be controlled during the robot running process, so as to effectively improve the energy utilization rate of the wheeled mobile robot.

Description

technical field [0001] The invention relates to a driving control method of a wheeled mobile robot, belonging to the field of robot control systems and control algorithms thereof. Background technique [0002] Wheeled mobile robots are widely used in replacing humans in dangerous operations, planetary exploration, and polar scientific research. According to the research results of the ground mechanics of the vehicle, the wheels of the wheeled mobile robot drive on the soil, the soil particles are deformed and flowed under the force, and the wheels will slip. When the slip rate corresponding to the maximum thrust provided by the soil is lower than the slip rate of the wheel, the wheel will form a slip sink. The amount of sag of the wheel is closely related to the degree of wheel slip. When the degree of wheel slip increases, the amount of sag of the wheel will also increase. Excessive wheel slip will inevitably lead to excessive sag. Excessive sagging of the wheels will lea...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 刘吉成李斌唐森隆刘颖慧刘树林周晓君翟宇毅
Owner SHANGHAI UNIV
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