The invention discloses a control method for controlling a Mecanum wheel platform to move through a rocker, and the method comprises the steps: 1, building a rocker coordinate system, 2, moving the rocker to a position A, 3, collecting the voltages of an X axis and a Y axis when the rocker is located at the position A, and 4, calculating the resultant speed and direction angle value of the rocker according to the voltages of the X axis and the Y axis, 5, enabling the platform control system to analyze the rotating speed and direction of each Mecanum wheel motor, and 6, enabling the platform control system to calculate and analyze the motor rotating speed collected in real time and the motor rotating speed and direction analyzed by the platform control system through a PID algorithm, and carrying out stable closed-loop control on the Mecanum wheels. By means of the control method, the Mecanum wheel platform can be controlled to move at any speed in all directions.

    本发明公开了一种摇杆控制麦克纳姆轮平台移动的控制方法,包括:步骤1、建立摇杆坐标系统,步骤2、移动摇杆至位置A,步骤3、采集摇杆位于位置A时的X轴和Y轴的电压,步骤4、根据X轴和Y轴的电压计算出摇杆合速度和方向角度值,步骤5、平台控制系统解析出每一麦克纳姆轮电机的转速和方向,步骤6、平台控制系统通过PID算法,计算分析实时采集的电机转速及平台控制系统解析的电机转速和方向,对麦克纳姆轮进行稳定的闭环控制。本发明的控制方法实现了对麦克纳姆轮平台的全方位及任意速度移动的控制。


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    Title :

    Control method for controlling Mecanum wheel moving platform through rocker


    Additional title:

    一种摇杆控制麦克纳姆轮移动平台的控制方法


    Contributors:
    XIONG PENG (author) / LIU JINQIAO (author) / CHEN HAOJIE (author) / LIU YI (author) / WANG HAILIANG (author)

    Publication date :

    2021-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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