| 基于STM32F429的全向运动平台的运动控制 |
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| 引用本文： | 刘林,杨开明,汪伟,朱煜,钱宇阳,何佳宝.基于STM32F429的全向运动平台的运动控制[J].航空动力学报,2019,46(2):40-45. |
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| 作者姓名： | 刘林 杨开明 汪伟 朱煜 钱宇阳 何佳宝 |
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| 作者单位： | 电子科技大学 机械与电气工程学院,四川 成都611731,清华大学 机械工程学院 机械电子研究所,北京100084,清华大学 机械工程学院 机械电子研究所,北京100084,清华大学 机械工程学院 机械电子研究所,北京100084,清华大学 机械工程学院 机械电子研究所,北京100084,清华大学 机械工程学院 机械电子研究所,北京100084 |
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| 摘 要： | 全向运动平台系统是可以实现人体在各个方位行走的2D运动平台。针对实现人体在全向运动平台稳定行走的运动控制,采用加入观测器的一阶控制算法对平台运动控制进行探究。先通过MATLAB软件进行算法的仿真,验证方法的可行性；再通过现场测试,验证控制算法的有效性。最终试验表明,加入观测器的一阶控制算法可对全向运动平台实现有效的运动控制。此运动控制策略的探究为全向运动平台的运动控制提供了一种可行的控制思路和方案。
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| 关 键 词： | 全向运动平台 运动控制 控制算法 |
| 收稿时间： | 2018/8/17 0:00:00 |
Motion Control of Omnidirectional Motion Platform Based on STM32F429 |
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| LIU Lin,YANG Kaiming,WANG Wei,ZHU Yu,QIAN Yuyang and HE Jiabao.Motion Control of Omnidirectional Motion Platform Based on STM32F429[J].Journal of Aerospace Power,2019,46(2):40-45. |
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| Authors: | LIU Lin YANG Kaiming WANG Wei ZHU Yu QIAN Yuyang and HE Jiabao |
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| Institution: | School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China,Institute of Mechatronic Engineering, School of Mechanical Engineering, Tsinghua University,Beijing 100084, China,Institute of Mechatronic Engineering, School of Mechanical Engineering, Tsinghua University,Beijing 100084, China,Institute of Mechatronic Engineering, School of Mechanical Engineering, Tsinghua University,Beijing 100084, China,Institute of Mechatronic Engineering, School of Mechanical Engineering, Tsinghua University,Beijing 100084, China and Institute of Mechatronic Engineering, School of Mechanical Engineering, Tsinghua University,Beijing 100084, China |
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| Abstract: | The omnidirectional motion platform system was a 2D motion platform that could realize walking of the human body in various directions. In order to realize the motion control of the human body in the omnidirectional motion platform, the firstorder control algorithm added to the observer to explore the motion control of the platform was used. Firstly, the algorithm was simulated by MATLAB software to verify the feasibility of the method. Then, the effectiveness of the control algorithm was verified by field tests. Experiments showed that the firstorder control algorithm added to the observer achieved effective motion control for the omnidirectional motion platform. The exploration of this motion control strategy provided a feasible control idea and solution for motion control of the omnidirectional motion platforms. |
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| Keywords: | omnidirectional motion platform motion control control algorithm |
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