1. Trang chủ
  2. » Kỹ Thuật - Công Nghệ

A simple nonlinear control of two wheeled welding mobile robot

8 108 0

Đang tải... (xem toàn văn)

THÔNG TIN TÀI LIỆU

Thông tin cơ bản

Định dạng
Số trang 8
Dung lượng 264,92 KB

Nội dung

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ƯWULDO DQG HUURUĐ PHWKRG LQ HDFK VWHS WLPH 7KH VHDPWUDFNLQJ VHQVRU PRYHV WRJHWKHU ZLWKWKHWRUFKVOLGHU,IWKHUHLVDQƯHUURUĐWKHFRQWURO OHU ZLOO DGMXVW WKH :05 PRWLRQ EDVHG RQ SUH SURJUDPPHG VFKHGXOH 7KH FRQWUROOHUV DUH XVHG RQO\ IRUVWUDLJKWOLQHWUDFNLQJDQGFDQQRWEHH[WHQGHGIRUD VPRRWK FXUYHGOLQH WUDFNLQJ %RWK FRQWUROOHUV SUR SRVHG E\ -HRQ DQG DP KDYH EHHQ VXFFHVVIXOO\ DS SOLHG IRU UHDO V\VWHPV EXW ERWK FRQWUROOHUV DUH FRP SOH[ DQG H[SHULHQFH ORVV RI JHQHUDOLW\ ZKHQ DOO\LQJ IRUJHQHUDOVPRRWKSDWKWUDFNLQJ 7KLV SDSHU SURSRVHV D VLPSOH QRQOLQHDU FRQWUROOHU EDVHGRQWKH/\DSXQRYFRQWUROIXQFWLRQWRHQKDQFHWKH WUDFNLQJSURSHUWLHVRIWKH:057RGHVLJQDWUDFNLQJ SHUIRUPDQFHDQHUURUFRQILJXUDWLRQLVGHILQHGDQGWKH FRQWUROOHULVGHVLJQHGWRGULYHWKHHUURUWR]HURDVIDVW DV GHVLUHG 7KH FRQWUROOHG V\VWHP DWWDLQV /\DSXQRY VWDELOLW\ 7R GHVLJQ D FRQWUROOHU D VLPSOH PHWKRG IRU PHDVXULQJWKHHUURUVXVLQJSRWHQWLRPHWHUVLVSURSRVHG 7ZR FDVHV DUH FRQVLGHUHG IL[HG WRUFK DQG FRQWUROOHG WRUFK :05V 7KH :05 KDV D JHRPHWULFDO SURSHUW\ WKHZHOGLQJSRLQWLVRXWVLGHLWVZKHHOVDQGLVIDUIURP LWVFHQWHU7KLVSURSHUW\OHDGVWRWKHVORZFRQYHUJHQFH RI WUDFNLQJ HUURUV LQ WKH FDVH RI D IL[HG WRUFK :05 7KLV GLVDGYDQWDJH FDQ EH RYHUFRPH E\ XVLQJ D FRQ WUROOHGWRUFKVOLGHU7KHVLPXODWLRQIRUD:05ZLWKD VWUDLJKW ZHOGLQJ SDWK VKRZV WKH HIIHFWLYHQHVV RI WKH SURSRVHGFRQWUROOHU  6H  H  H @7 DVVKRZQLQ )LJDV ª H º ôH ằ ô ằ ôơ H ằẳ ê FRV I «  VLQ I « «¬  VLQ I º FRV I ằằ   ằẳ ê [U  [Z º « \  \ »          Zằ ô U ôơ IU  IZ »¼ :HZLOOGHVLJQDFRQWUROOHUWRDFKLHYH HL o   ZKHQ W o f DQGKHQFHWKHZHOGLQJSRLQW :  WUDFNVWRLWV UHIHUHQFHSRLQW :HZLOOFRQVLGHUWZRFDVHVXVLQJ DQGRPLWWLQJWKHWRUFKVOLGHU  )L[HGWRUFKOHQJWK ,QWKLVFDVHWKHWRUFKLVDGMXVWHGRQO\EHIRUHZHOG LQJ$QJXODUYHORFLWLHVRIWKHOHIWZKHHODQGWKHULJKW ZKHHO DUH WKH WZR LQSXWV WR WKH V\VWHP :KHQ WRUFK OHQJWK O  LVFRQVWDQWIURP(TV  ZHFDQFRQ ILUPWKDW HL  VDWLVILHV ê H ôH ằ ô ằ ôơ H ằẳ êYU FRV H ê  H  O êY ô Y VLQ H ằ  ô  H »» « »           ằ ô U ô Z ôơ ZU ằẳ ôơ   ằẳ ẳ 7KHFKRVHQ/\DSXQRYIXQFWLRQDQGLWVGHULYDWLYHDUH JLYHQDV 9       FRV H                       H  H    N 9 HH  H H  VLQ H H N H Y  OZ  YU FRV H   VLQ H Z  ZU  N H YU  N     $Q REYLRXV ZD\ WR DFKLHYH QHJDWLYLW\ RI 9  LV WR FKRRVH Y Z  DV O ZU  N H YU  N VLQ H  YU FRV H  NH  ­Y ® ¯Z ZU  N H YU  N VLQ H        ZKHUH N  N   N  DUHSRVLWLYHYDOXHV7KHFRQWUROOHULQ (T   LV JRRG IRU GHULYLQJ WKH HUURUV DV HL o  L     RQO\ ZKHQ WKH UHIHUHQFH YHORFLW\ YU  LV ODUJH HQRXJK ,Q RXU DSSOLFDWLRQ WKH UHIHUHQFH ZHOGLQJ VSHHG YU  LV XVXDOO\ YHU\ ORZ DERXW   PV  VR WKDW WKH HUURU H  VORZO\ FRQYHUJHV WR ]HUR7KLVSUREOHPFDQEHVHHQIURP)LJZLWKWKH JHRPHWULFDOVWUXFWXUHRIWKH:05WKHZHOGLQJSRLQW OLHV RXW RI WKH WZR ZKHHOV DQG IDU IURP WKH :05©V FHQWHU$VDUHVXOWRQO\WKHHUURUV H  DQG H  HDVLO\ WR FRQYHUJH WR ]HURV 7KH VORZ FRQYHUJHQFH RI HUURU H  FDQEHDYRLGHGE\XVLQJDFRQWUROOHGWRUFKVOLGH  &RQWUROOHGWRUFKOHQJWK ,Q WKLV FDVH WKH WRUFK LV DGMXVWHG GXULQJ ZHOGLQJ 7KHOLQHDUYHORFLW\RIWKHWRUFKVOLGHULVDQDGGLWLRQDO V\VWHPLQSXW7KHFRQILJXUDWLRQRIWKHWRUFKVOLGHULV JLYHQ LQ )LJ  :KHQ WKH WRUFK VOLGHU LV XVHG WKH WRUFKOHQJWK O  LVFKDQJHDEOH  LVUHZULWWHQDV ê H ôH ằ ô ằ ôơ H ằẳ ê YU FRV H ê  H  O êY ôY VLQ H  Oằ  «  H »» « »          ô U ằ ô Z ôơ ằẳ ôơ  ZU  ằẳ ẳ 1RZWKH/\DSXQRYIXQFWLRQLVFKRVHQDV 9       H  H  H t                 DQGLWVGHULYDWLYHLV 9 HH  HH  HH H Y  OZ  YU FRV H  H YU VLQ H  O      H Z  ZU  7RDFKLHYHWKHQHJDWLYLW\RI 9 ZHFKRRVH Y Z  DV ­Y ® ¯Z O ZU  NH  YU FRV H  NH  ZU  NH           DQGWKHWRUFKOHQJWK O  VDWLVILHV O YU VLQ H  N H                 )URP(TV  DQG  RU(T  ZHFDQFDOFXODWH WKH QHFHVVDU\ YHORFLWLHV RI WKH WZR GULYLQJ ZKHHOV ZUZ DQG ZOZ   0($685(0(172)7+((55256 ,Q WKH PRELOH URERW FRQWURO SUREOHP HQYLURQPHQW LQIRUPDWLRQ LV YHU\ LPSRUWDQW IRU URERW RSHUDWLRQ   ,QWHUQDWLRQDO-RXUQDORI&RQWURO$XWRPDWLRQDQG6\VWHPV9RO1R0DUFK UHIHUHQFH ZHOGLQJ SDWK $ UROOHU G YU H H 2 UV 5 [ U  \ U H UV 2 UROOHU WRUFK $ $ OV : [Z  \Z O < ; & [ \ $ OV UROOHU & [ \ WRUFK : O  )LJ 6FKHPHIRUPHDVXULQJWKHHUURUV  2I WKH WZR W\SHV RI XQNQRZQ DQG NQRZQ HQYLURQ PHQWV RXU DSSOLFDWLRQ EHORQJV WR WKH ILUVW W\SH WKH :05IROORZVDQXQNQRZQVPRRWKFXUYHGVWHHOZDOO WRGRLWVODWWLFHW\SHRIZHOGLQJ)RUWKH:05©VRS HUDWLRQILUVWWKHIUHHVSDFHDURXQGWKH:05PXVWEH GHWHUPLQHGIRULWVRSHUDWLRQDQGQH[WWKH:05LWVHOI PXVW EH ORFDWHG LQ LWV SRVLWLRQ UHODWLYH WR ZRUNLQJ SDWK,QWKLVSDSHUWKHFRQWUROOHULVGHULYHGEDVHGRQ PHDVXULQJ WKH WUDFNLQJ HUURUV +HQFH PHDVXUDELOLW\ RIWUDFNLQJHUURUFRPSRQHQWVLVYHU\LPSRUWDQW6RPH PHWKRGV IRU PHDVXULQJ WKHVH HUURUV GHSHQG RQ WKH W\SH RI VHQVRU WR EH XVHG :KHQ VRPH UHVWULFWHG PHDVXUDELOLW\ RI HUURU RFFXUV DQ REVHUYHU LV XVHG DV LQWKHZRUNRI/HIHUEHU  7RDWWDLQWKHFRQWURO OHUVRI(T  RU(TV  HUURUV H  H  H  PXVW EH PHDVXUHG :H SURSRVH D VLPSOH PHDVXUHPHQW VFKHPHXVLQJSRWHQWLRPHWHUVWRREWDLQWKHVHYDOXHVDV VKRZQLQ)LJ7ZRUROOHUVDUHSODFHGDWSRLQWV 2  DQG 2 7KHGLVWDQFHEHWZHHQWKHWZRUROOHUV 2  2  LV FKRVHQ DFFRUGLQJ WR WKH FXUYH UDGLXV RI WKH UHIHU HQFHZHOGLQJSDWKDWFRQWDFWSRLQW 5 [U  \U  VXFKDV G JJJJJG YU  22  7KHUROOHUGLDPHWHUVDUHFKRVHQWREHVPDOO H Q R X J K  W R  R Y H U F R P H  W K H  I U L F W L R Q  I R U F H  )URP)LJZHKDYHWKHUHODWLRQVKLSV ­H ° ®H °H ¯  UV VLQ H  OV  O  UV   FRV H              ‘ 2&  22  S   ZKHUH UV  LV WKH UDGLXV RI WKH UROOHU DQG OV  LV WKH OHQJWKRIWKHVHQVRU+HQFHZHQHHGWZRVHQVRUVIRU PHDVXULQJ WKH HUURUV WKDW LV RQH OLQHDU VHQVRU IRU PHDVXULQJ OV  O  DQG RQH URWDWLQJ VHQVRU IRU PHDVXULQJWKHDQJOHEHWZHHQWKH;FRRUGLQDWHRIWKH G :05DQG YU ,IWKHSDWKLVDVWUDLJKWOLQHQRPHDV XULQJHUURUH[FHSWPHDVXUHPHQWQRLVHRFFXUV,IWKH SDWKLVDFXUYHGOLQHDPHDVXULQJHUURURFFXUVZKHQ ZHXVHWKHDERYHPHWKRGWRPHDVXUHWKHWUDFNLQJHU URU7KLVHUURUGHSHQGVRQWKHUDGLXVRIWKHUROOHU UV  WKHOHQJWKRIWKHVHQVRU OV DQGWKHOHQJWKRI 22   +RZHYHU WKH HIIHFW RI WKLV HUURU RQ WKH RYHUDOO SHU IRUPDQFHLVDFFHSWDEOHDVVKRZQLQVLPXODWLRQUHVXOWV LQWKHQH[WVHFWLRQ  6,08/$7,215(68/76$1'  ',6&866,21 7RYHULI\WKHHIIHFWLYHQHVVRIWKHSURSRVHGPRGHO LQJ DQG FRQWUROOHU VLPXODWLRQV KDYH EHHQ GRQH IRU D :05 ZLWK D GHILQHG UHIHUHQFHZHOGLQJ SDWK 7KH QXPHULFDOYDOXHVXVHGLQWKLVVLPXODWLRQDUHJLYHQLQ 7DEOH7KHZHOGLQJVSHHGLVPPV7KHSRVLWLYH FRQVWDQWVLQWKHFRQWUROOHUDUHFKRVHQDV  N  N  N  IRU WKH IL[HG WRUFK FDVH DQG N  N   N   IRU WKH FRQWUROOHG WRUFK OHQJWKFDVH7KHUHIHUHQFHSDWKLVFKRVHQDVVKRZQLQ )LJ 7KH ILUVW VLPXODWLRQ ZDV FRQGXFWHG ZLWK D IL[HG WRUFK :05 ZLWK WKH FRQWUROOHU RI (T   6LPXOD WLRQUHVXOWVDUHJLYHQLQ)LJV$VVKRZQLQ)LJ WKHHUURUVFRQYHUJHWR]HURDIWHUDERXWVHFRQGV  ,IVHQVRUHUURULVFRQVLGHUHGWUDFNLQJHUURUVRFFXUV DV VKRZQ LQ )LJ  ZKHQ WKH :05 SDVVHV WKURXJK WKH FXUYHG OLQH 7KHVH HUURUV FDQ EH RYHUFRPH ZLWK WKHFRQWUROOHGWRUFK:057KHZHOGLQJYHORFLW\DQG WKH:05YHORFLWLHVDUHVKRZQLQ)LJ7KHZHOGLQJ YHORFLW\ VWLOO WUDFNV WKH UHIHUHQFH ZLWKRXW RVFLOODWLRQ 7KHFRQWUROLQSXWVDUHVKRZQLQ)LJ 7KHVHFRQGVLPXODWLRQZDVGRQHIRUD:05ZLWKD FRQWUROODEOHWRUFKDQGFRQVLGHULQJPHDVXUHPHQWHUURU 7KHFRQWUROOHULQ(TV  DQG  LVXVHG6LPXOD WLRQ UHVXOWV DUH JLYHQ LQ )LJV    )RU WUDFNLQJ D  7DEOH  7KH QXPHULFDO YDOXHV DQG LQLWLDO YDOXHV IRU VLPXODWLRQ 3DUDPHWHUV E [U [Z Y IU O U \U \Z Z I IU 9DOXHV             8QLWV P P P PPV GHJ P P P P UDGV GHJ UDGV  ,QWHUQDWLRQDO-RXUQDORI&RQWURO$XWRPDWLRQDQG6\VWHPV9RO1R0DUFK VWUDLJKWOLQHWKHFRQYHUJHQFHRIWKHHUURUVLVYHU\IDVW DV VKRZQ LQ )LJ  :LWK WKLV VLPXODWLRQ YDOXH WKH HUURUVJRWRQHDUO\]HURDIWHUVHFRQGVIDVWHUWKDQ LQ WKH ILUVW VLPXODWLRQ 7KH YHORFLWLHV RI WKH :05 DQGUHIHUHQFHDQGZHOGLQJSRLQWVDUHJLYHQLQ)LJ 7KH FRQWURO LQSXWV DUH JLYHQ LQ )LJ  7KH WRUFK PXVWEHFRQWUROOHGDFFRUGLQJWR(T  DQGWKHUH VXOWVDUHVKRZQLQ)LJVDQG  \ 5     $QJXODUYHORFLWLHVRI:05 ZKHHOV USP 25 15 5   ULJKWZKHHO 20 40 80 100 120 140  )LJ &RQWUROLQSXWDQJXODUYHORFLWLHVRIWKH:05 ZKHHOV   5   0.41  )LJ 5HIHUHQFHZHOGLQJSDWK   15 HUURUH   PP HUURUH   PP HUURUH   GHJ 10 UHIHUHQFHZHOGLQJSDWK5 [U\U 0.40 0.39 ZHOGLQJSRLQWWUDMHFWRU\: [Z\Z 0.38 0.25 :05FHQWHUWUDMHFWRU\& [\ 0.24 -5 0.26 0.27 0.29 0.30 0.31  )LJ 7UDMHFWRULHVRIWKH:05DQGLWVUHIHUHQFH  -15 20 40 60 80 100 120 140 7LPH V  )LJ 7KHWUDFNLQJHUURUVZLWKRXWPHDVXUHPHQWHUURU  15 7UDFNLQJ(UURUH L HUURUH PP HUURUH PP HUURUH GHJ 10 HUURUH PP 10 15 7UDFNLQJ(UURUHL 0.28 ;FRRUGLQDWH P -10 HUURUH PP HUURUH GHJ -5 -10 -5 -15 -10 0.5 1.0 1.5 2.0 2.5  7LPH V -15 20 40 60 80 100 120 )LJ7KHWUDFNLQJHUURUV  140 7LPH V  )LJ 7KHWUDFNLQJHUURUVZLWKPHDVXUHPHQWHUURU 100 ZHOGLQJSRLQWYHORFLW\Y Z :05YHORFLW\Y UHIHUHQFHYHORFLW\Y U 80 60 60 9HORFLW\ PPV 50 9HORFLW\ PPV 60 7LPH V [ 7UDFNLQJ(UURUHL -5  @ 5 )LHUUR DQG ) / /HZLV ¦&RQWURO RI D QRQ KRORQRPLFPRELOHURERWEDFNVWHSSLQJNLQHPDWLFV LQWRG\QDPLFV§3URFRIWKHWK,(((&RQIRQ 'HFLVLRQ &RQWUROYROSS >@ 7 )XNDR + 1DNDJDZD DQG 1 $GDFKL ¦$GDS WLYH WUDFNLQJ FRQWURO RI D QRQKRORQRPLF PRELOH URERW§,(((7UDQVRQ5RERWLFVDQG$XWRPDWLRQ YROQRSS >@ @ @ @ 7&/HH.76RQJ&+/HHDQG&&7HQJ ¦7UDFNLQJ FRQWURO RI XQLF\FOHPRGHOHG PRELOH URERWV XVLQJ D VDWXUDWLRQ IHHGEDFN FRQWUROOHUĐ ,(((7UDQVRQ&RQWURO6\VWHPV7HFKQRORJ\YRO QRSS >@ 50XNKHUMHH'&KHQDQG*6RQJƯ$V\PS WRWLF IHHGEDFN VWDELOL]DWLRQ RI D QRQKRORQRPLF PRELOHURERWXVLQJDQRQOLQHDURVFLOODWRU§3URF RIWKHWK,(((&RQIRQ'HFLVLRQDQG&RQWURO YROSS >@ 3 * ' 6DQWRV 0 $ $UPDGD DQG 0 $ -LPHQH] ¦6KLS EXLOGLQJ ZLWK 52:(5§ ,((( 5RERWLFVDQG$XWRPDWLRQ0DJD]LQHYRO QR SS >@ 1 6DUNDU ; @ $ 7D\HEL DQG $ 5DFKLG ¦%DFNVWHSSLQJEDVHG GLVFRQWLQXRXV DGDSWLYH FRQWURO GHVLJQ IRU WKH VWDELOL]DWLRQ RI QRQKRORQRPLF PRELOH URERWV ZLWK PDWFKHG XQFHUWDLQWLHV§ 3URF RI WKH WK ,(((&RQIRQ'HFLVLRQDQG&RQWUROSS  >@ 7VXFKLD78UDNXERDQG.7VXMLWD¦$PR WLRQ FRQWURO RI D WZRZKHHOHG PRELOH URERW§ 3URF RI WKH  ,((( ,QWO &RQI RQ 6\VWHPV 0DQDQG&\EHUQHWLFVYROSS >@ ;

Ngày đăng: 07/11/2017, 15:40

TỪ KHÓA LIÊN QUAN

TÀI LIỆU CÙNG NGƯỜI DÙNG

TÀI LIỆU LIÊN QUAN