三种车型的全方位移动平台模糊滑模运动控制研究

Research on Motion Control with Fuzzy Sliding Mode Control of Three Kinds of Omnidirectional Platforms

摘要:

为了加强全方位移动平台的承重能力,提出了3种平台车型布局的设计方案,然而由于布局改变或载重后导致重心偏移,致使平台在全方位移动时出现偏差；使用模糊滑模控制方法来消除重心偏移对于全方位移动的影响,在进行圆轨迹跟踪联合仿真后,其结果表明模糊滑模控制方法完全适用于三种车型的控制,有效克服了因重心偏移而导致全方位移动出现偏差的问题,跟踪误差几乎为零,并且实现单一控制算法的通用化,统一化。

Abstract:

In order to strengthening the weight capacity to the omnidirectional platform, three kinds of layout designs for platforms are put forward. Because the layout changed or load causes the center of gravity offset, the platform has motion deviation with omnidirectional motion. Fuzzy sliding mode control is used to eliminate the omnidirectional motion influence caused by center of gravity offset. After joint simulation with circle trajectory tracking, the results indicate that fuzzy sliding mode control method is applicable for the control of three omnidirectional platforms to overcoming the motion deviation effectively caused by center of gravity offset in omnidirectional motion. The tracking error is zero nearly. And the control algorithm is universal and unified.