###
DOI:10.3969/j.issn.2096-8299.2021.01.012
Journal of ShangHai University of Electric Power :2021,37(1):61-66
View/Add Comment     Archive    Advanced search     HTML
←Previous   |   Next
基于光流传感器和惯性导航的全向移动平台双闭环控制研究
王道累, 孙嘉珺, 柴萍萍, 徐凌弘, 刘易腾, 韩洋
(上海电力大学 能源与机械工程学院)
Dual Closed-loop Control of Omnidirectional Mobile Platform Based on Optical Flow and Inertial Navigation
WANG Daolei, SUN Jiajun, CHAI Pingping, XU Linghong, LIU Yiteng, HAN Yang
(School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China)
Abstract
Image-text
References
Similar literature
本文已被：浏览 1021次   下载 350次
Received:June 16, 2020    
中文摘要: 以实现全向移动平台的位姿控制为主要研究目的。在位姿获取上，采用光流传感器和惯性导航获得了位姿信息；在结构和控制上，研究了四轮麦克纳姆轮的全向移动平台结构及其位姿解算，分析了获得车辆转角和位姿双闭环PID控制规律。通过Simulink仿真建立上位机实时获取传感器数据，研究了各个传感器在不同条件下的数据变化情况和双闭环控制的参数调节问题，以寻找最佳的控制参数。
中文关键词: 双闭环控制  光流传感器  惯性导航  全向移动
Abstract:The main purpose is to realize the pose control of omni-directional mobile platform.In the aspect of pose acquisition,the method of acquiring pose information is provided by using optical flow sensor and inertial navigation.In terms of structure and control,the structure of omni-directional mobile platform of four-wheel mcnamm wheel is studied,the position and attitude calculation is explored,and the double closed-loop PID control law of vehicle angle and position and attitude is analyzed.The upper computer is established by Simulink simulation to obtain the sensor data in real time,so as to study the data change of each sensor under different conditions and the parameter adjustment of double closed-loop control,and find the best control parameters.
keywords: double closed-loop control  optical flow sensor  inertial navigation  omnidirectional movement
文章编号：20211012     中图分类号：TP242    文献标志码：
基金项目:国家自然科学基金（61502297）。
Author NameAffiliationE-mail
WANG Daolei School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China alfredwdl@shiep.edu.cn 
SUN Jiajun School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China  
CHAI Pingping School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China  
XU Linghong School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China  
LIU Yiteng School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China  
HAN Yang School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China  
Author NameAffiliationE-mail
WANG Daolei School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China alfredwdl@shiep.edu.cn 
SUN Jiajun School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China  
CHAI Pingping School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China  
XU Linghong School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China  
LIU Yiteng School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China  
HAN Yang School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China  
Reference text:



Copyright：Journal of ShangHai University of Electric Power
Address：Room 1124, Room 1126, Room 1128, Administration Centre, No. 2588, Changyang Road, Yangpu, Shanghai ,Postal Code：200090
Phone：021-35304995 021-35303805 021-35300108 Fax：021-35304995 Email：xuebaowu@126.com
Technical support：Beijing Qinyun Technology Development Co., Ltd