The invention provides an independent driving steering performance trolley motion control method based on position compensation. The method comprises the following steps that in the advancing processof a performance trolley, allowing an encoder and a laser sensor which are arranged on the performance trolley to conduct real-time measurement, obtaining an encoder pose measurement value and a lasersensor pose measurement value respectively, and then obtaining a pose fusion measurement value after fusion calculation is conducted; subtracting the expected pose value from the pose fusion measurement value to obtain a position compensation feedback quantity, and correcting the next expected pose trajectory data point in time according to the compensation feedback quantity of a current trajectory data point such that the performance trolley walks according to the expected pose trajectory with the maximum precision. By controlling the trolley, the trolley can flexibly move in a narrow space,and due to the fact that each wheel is provided with the corresponding driving motor, the loading capacity of the trolley is higher. A position compensation mode is adopted such that the trolley canapproach an expected motion trail better, and a better performance effect is achieved.
本发明提供一种基于位置补偿的独立驱动转向的表演小车运动控制方法,包括以下步骤:在表演小车行进过程中,表演小车自身配置的编码器和激光传感器进行实时测量,分别得到编码器位姿测量值和激光传感器位姿测量值,再进行融合计算后,得到位姿融合测量值;将位姿融合测量值与预期位姿值相减,得到位置补偿反馈量,通过当前轨迹数据点的补偿反馈量,对下一个预期位姿轨迹数据点进行及时修正,进而使表演小车最大精度的按预期位姿轨迹行走。本发明通过对小车控制,可使小车在狭小的空间里灵活运动,且由于每个轮子上都装有驱动电机,使其负载能力更大。又由于采用位置补偿方式,使其更能趋近预期运动轨迹,达到更好的表演效果。
Independent driving steering performance trolley motion control method based on position compensation
基于位置补偿的独立驱动转向的表演小车运动控制方法
2020-11-27
Patent
Electronic Resource
Chinese
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