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中文摘要：
旨在设计具有强机动性的全向移动自由基座并进行轨迹跟踪控制。自由基座移动方式采用基于Mecanum轮的四轮组合形式;执行机构为Maxon直流有刷电机,通过行星减速器增加扭矩输出;控制芯片采取PMAC II型多轴运动控制卡输出控制信号,通过直流驱动器进行功率放大。结合四轮组合Mecanum轮的运动学模型,建立了自由基座的动力学模型;并自适应估计外界干扰的上界,进而设计了指数收敛的自适应滑模跟踪控制器。仿真结果表明,上述滑模控制器能确保自由基座实现精确的轨迹跟踪。
英文摘要：
This paper aimed at designing a strongly flexible omni-directional free base and trajectory tracking control. The mobile pattern of free-base was based on four-wheel combination of Mecanum wheels; actuator used Maxon Brush DC motor through planetary reducer increase torque output; control chip adopted PMAC II- type multi- axis movement controller,using DC driver for power amplification. In this paper the dynamical model of the free base was built combining with the kinematic model of four-wheel Mecanum wheels. Besides,the upper bound of the external interference was estimated automatically; on this basis,an adaptive sliding mode trace controller based on exponential approach law was designed. The simulation analyses show that the sliding mode controller can realize precise trajectory tracking for the free base.
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