Cross coupling control method for sliding mode cloud model of crawler-type mobile robot

Abstract

The invention discloses a cross coupling control method for a sliding mode cloud model of a crawler-type mobile robot. The method comprises the following steps of firstly, establishing a crawler-typemobile robot tracking error model and a brushless direct-current motor mathematical model, and then establishing a speed ring sliding mode controller and a cloud model cross coupling controller; for asingle motor, designing the speed ring sliding mode controller, thereby inhibiting non-periodic error and reducing speed tracking error; and for double motors, designing the cloud model cross coupling controller, thereby reducing the composite tracking error. By virtue of the cross coupling control method for the sliding mode cloud model of the crawler-type mobile robot, the tracking error of thecrawler-type robot can be effectively reduced, so that the method achieves relatively high trajectory tracking precision, relatively strong robustness and self-adaptive capability.

Description

technical field [0001] The invention relates to the technical field of mobile robot control, in particular to a sliding mode cloud model cross-coupling control method for a crawler mobile robot. Background technique [0002] According to different driving structures, mobile robots can be roughly divided into the following three types: wheeled, legged and crawler. Compared with wheeled mobile robots, crawler mobile robots have stronger adaptability to complex terrain such as sand, gravel and mud roads, have a large support area, are not easy to slip, and have good off-road performance; compared with legged mobile robots, they have a simpler motion structure and lower control difficulty , so it has a wide range of applications in the field of EOD rescue and inspection and exploration. [0003] The walking error of the crawler mobile robot is composed of internal error and external error: the internal error is caused by the mechanical transmission structure of the crawler on b...

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Problems solved by technology

[0003] The walking error of the crawler mobile robot is composed of internal error and external error: the internal error is caused by the mechanical transmission structure of the crawler on both sides and the driving characteristics of the motor cannot be completely consistent; the external error is caused by the complexity of the ground conditions. The change of the force between the robot and the ground makes the left and right crawlers unable to track completely

At present, there are mainly two models for the analysis of crawler mobile robots: the first one is to consider the influence of the sliding friction between the track and the ground, which is called the sliding manipulation model. This method is in line with the actual situation. However, this method requires accurate measurement The force between the track and the ground is difficult to achieve on an actual robot

The second is to simplify the crawler mobile robot to a wheeled robot model. This method is simpler and the wheeled model is more mature, but there is a large error with the actual situation.

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