一种基于交叉耦合的速度控制器

以足球机器人小车子系统为研究对象,通过对足球机器人小车轨迹跟踪误差的分析,建立了考虑轨迹跟踪精度的复合误差模型·提出一种基于模糊推理的交叉耦合误差补偿器的设计原理、算法及实现方法·该误差补偿器在不改变机器人小车内部速度环结构的条件下,通过向各轮提供附加补偿控制量,进而实现提高机器人小车轨迹跟踪的精度·针对足球机器人小车数学模型的仿真实验结果表明,该方法能够有效地提高机器人小车轨迹跟踪的精度·

Cross-Coupling Speed Controller

Based on the study of robot subsystem of soccer-robot, a kind of compositive error model was set up by the analysis of wheeled-robot trajectory-tracking error. The design principles, arithmetic and implemental methods of cross-coupling tracking error compensator were presented based on fuzzy reasoning. By adding additional compensation on the input of speed loop of each wheel, the compensator can improve the trajectory tracking accuracy without changing the configuration of the robot inner-speed loop. The simulation was based on the mathematic model of soccer robot. The method can improve the trajectory tracking accuracy of wheeled robot effectively.