Abstract:The motion error controller of wheeled robot based on sliding mode variable structure was proposed to solve the problem of large control errors caused by the disturbance of uncertain factors in the current optimization simulation method of position and pose error control based on Riccati differential equation. A dual-frame gyroscope is used to provide power to the controller. FB900C/E Angle transmitter is used to convert AC signal into angular displacement output. The DSP controller of TMS320F2812 is used to control the data transmission and level conversion of the whole controller. Considering the n-order linear data of phase variable input, the control law of variable structure control of synovial film was designed and the sliding surface of variable structure control was calculated. In the mode control stage of the synovial variable structure, the motion equation matrix of the mode control stage was constructed. The state point is forced to move on the synovial switching surface, and the stability control is achieved by controlling the target. The DSP program control flow is designed, and the error control result based on sliding mode variable structure is transmitted to the potentiometer, and the operation data is sent to the host computer, so as to complete the motion error control of the wheeled robot. The experimental results show that the sliding mode chattering is obviously eliminated after the controller adaptively adjusts the parameters, and the maximum control error is 0.01rad, which has an accurate control effect.
