摘要
在分析由4个Mecanum轮组成的车辆运动学模型和动力学模型的基础上,设计了基于参数分配器的模糊PID双闭环控制系统,对采用该系统进行控制的基于Mecanum轮的电动万向底盘进行实验分析,验证了该控制系统具有更好的响应时间和稳态误差精度,能够满足该电动底盘在狭小空间内精确运动的要求。
Based on the analysis of kinematic model and dynamic model of vehicle with four Mecanum wheel, the fuzzy PID dual closed-loop control system was designed based on parameter distributor. The Meeanum wheels based electric chassis with the proposed system was analyzed and tested. The control system was proved to have a good response time and steady-state error precision, which satisfied the requirement of precise movement of electric chassis in tight space.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2013年第6期19-23,34,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
海军军事科研资助项目
