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A Cycloid Tracking Control Method for a Wheeled Mobile Stage Robot

A technology of tracking control and control method, which is applied in non-electric variable control, vehicle position/route/height control, control/regulation system, etc. It can solve the problems of setting many parameters, understanding abstraction and implementing difficulties, and achieves simple online implementation , Improving speed and smoothness, and easy-to-understand effects

Active Publication Date: 2020-06-02
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0003] In order to overcome the deficiencies of the existing wheeled mobile stage robot trochoid tracking control method with many setting parameters, abstract understanding and difficult implementation, the present invention provides a wheeled mobile stage robot trochoid that is intuitive to understand, simple in design, and easy to implement. tracking control method

Method used

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  • A Cycloid Tracking Control Method for a Wheeled Mobile Stage Robot
  • A Cycloid Tracking Control Method for a Wheeled Mobile Stage Robot
  • A Cycloid Tracking Control Method for a Wheeled Mobile Stage Robot

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with the accompanying drawings.

[0038] refer to Figure 1 ~ Figure 3 , a wheeled mobile stage robot trochoid tracking control method, the control method comprises the following steps:

[0039] 1). Input the trochoid equation to be tracked, see formula (1):

[0040]

[0041] Among them, the constant a is the width of the arch in meters, the constant h is the width of the arch in meters, the constant w is the trochoidal rotational angular velocity in radians / second, and the variable k represents the sampling moment; X(k) and Y(k ) respectively represent the horizontal and vertical position coordinates of the trochoidal line in the Cartesian coordinate system at time k;

[0042] 2) Establish a discrete-time dynamic model of the moving process of the wheeled mobile stage robot, see formula (2):

[0043]

[0044] Among them, the normal constant T s Indicates the sampling period, in seconds; x 1...

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Abstract

The invention discloses a wheeled mobile stage robot flat cycloid tracking control method. In view of flat cycloid tracking control realization needs of an under-actuated nonlinear wheeled mobile stage robot, a discrete time third-order dynamic model and a flat cycloid tracking error function for the wheeled mobile stage robot are firstly defined, a flat cycloid tracking control problem of the wheeled mobile stage robot in a finite time window is then defined, a sequence quadratic programming algorithm is used to solve a flat cycloid tracking optimal control sequence at each sampling moment, arolling optimization principle is combined to calculate the flat cycloid tracking control amount at each sampling moment, and wheeled mobile stage robot flat cycloid tracking control is realized. Thedesign method of the invention has the advantages of easy understanding, strong generality and simple and convenient online calculation.

Description

technical field [0001] The invention belongs to the field of wheeled mobile stage robot control and relates to a trochoid tracking control method for a wheeled mobile stage robot. Background technique [0002] With the improvement of people's living standards in our country and the urgent need for cultural construction, stage performance art has become an important part of our daily cultural life, and wheeled mobile stage robots are one of the important props to present high-quality stage performance art. Usually during the performance of the repertoire, the stage robot needs to quickly track the specified movement trajectory according to the changes of the performance repertoire, and achieve perfect cooperation with the performers and the repertoire in time and space. The mobile stage robot quickly tracks the specified trajectory, which can be regarded as the trajectory tracking control problem of the mobile robot. In the motion trajectory design of the mobile stage, the c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/021
Inventor 何德峰姬超超倪洪杰黄光普
Owner ZHEJIANG UNIV OF TECH
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