The invention discloses an automatic recharging control method for a hydraulic steering Ackerman type robot, which comprises the following steps of: (1) respectively constructing input and output dynamic models of hydraulic steering and motor driving, and constructing a dynamic prediction model of a robot system according to the input and output dynamic models; (2) calculating and obtaining an expected robot system state according to a recharging task requirement, constructing a target function for model prediction control in combination with the step (1), and establishing a constraint according to Ackerman chassis performance; (3) solving the target function in the step (2) at the current moment to obtain a control quantity at the next moment, and controlling the robot according to the control quantity; and (4), repeating the step (3) until automatic recharging control of the robot is completed. When the dynamic mathematical model of the system is established, the characteristics of the two systems are included, so that the control sequence solved by the method has feasibility, and the stability of the controller is guaranteed.
本发明公开了一种液压转向阿克曼型机器人的自动回充控制方法,包括步骤:(1)分别构建液压转向和电机驱动的输入输出动态模型,并据此构建机器人系统动态预测模型;(2)根据回充任务要求计算得到期望机器人系统状态,并结合步骤(1)构建模型预测控制的目标函数,并依据阿克曼底盘性能建立约束;(3)在当前时刻求解步骤(2)的目标函数得到下一时刻的控制量,并据此控制机器人;(4)重复步骤(3),直至完成机器人的自动回充控制。本发明在建立系统动态数学模型的时候,包含了两种系统的特性,因此本方法求解得到的控制序列具有可行性,从而保障控制器的稳定性。
Automatic recharging control method for hydraulic steering Ackerman type robot
一种液压转向阿克曼型机器人的自动回充控制方法
2021-11-02
Patent
Electronic Resource
Chinese
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