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基于动力学模型的轮式移动机器人电机控制-机器人视觉与运动控制
30 4 ROBOT Vol.30, No.4
2008 7 July, 2008
1002-0446(2008)04-0326-07
12 2 2 2
1 100081 2 100190
DMMC
I DMMC
TP249 A
Dynamic Model Based Motor Control for Wheeled Mobile Robots
12 2 2 2
CHEN Xiao-peng , LI Cheng-rong , LI Gong-yan , LUO Yang-yu
(1. Beijing Institute of Technology, Beijing 100081, China;
2. Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China)
Abstract: A novel motor control law based on dynamic model (DMMC) is proposed for wheeled mobile robot to control
its two driving motors synchronously. First, kinematic model and dynamic model of the mobile robot, of which the mass
center position is arbitrary, are derived, and the nonlinear differential equation of speeds and torques of the two wheels is
derived. And then, system state equation of the mobile robot is derived based on the nonlinear differential equations of
speeds and torques, electrical equations and electrical-mechanical equations of the two driving motors. Finally, the pole
placement method is used to form a type I state feedback control law. Simulation shows that the DMMC controller can
respond to the input instructions quickly without static error.
Keywords: motor control; mobile robot; modeling; dynamics; nonholonomic constraint; cross coupling
1 (Introduction)
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