The Analysis Of Control Algorithm On The Differential And Permanent Magnet Wheeled Mobile Robot

Due to the wheeled mobile welding robot has the characteristics of high flexibility,strong adaptability and easy to move,it is widely used in the welding of pipes and large ships.However,there are still some problems in the wheeled mobile welding robot,such as the existence of the inevitable slipping appearance and parameter uncertainty,which are not easy to ensure the control accuracy.The all position welding robot with wheeled mobile was studied which the aim to weld the pipes and weld large hull steel.The main works of this dissertation are as follows:1.In view of the control of the PC+ motion control board and the wheeled mobile welding robot which used permanent magnetic suck,LabVIEW graphical programming language were used to achieve robotic motion planning problem which aims to realize the multi-locomotion mode of the all.position welding robot with wheeled mobile and ensure that the welding robot can meet the needs of various welding conditions,such as linear motion,circular sliding,helical motion and S.type curve motion.2.When the welding robot moves on the steel plate,there is no avoidable driving wheel slip.The slip of robot can be divided into two parts,which are the transverse slipping and the longitudinal slipping.In this paper,the kinematic model of the wheeled mobile welding robot was constructed,which was based on the longitudinal slipping of the driving wheel about the left and the right sides.According to the Lyapunov stability criterion and Barbalat theorem,an adaptive tracking control law was derived.The simulation analysis shows that the control law can achieve the path tracking of the wheel longitudinal slip.3.The dynamic model of wheeled mobile welding robot is established by using Lagrange method in the two-dimensional plane.Due to the robot dynamics system had more complicated and there was some error in the linearization of nonlinear system,the HJI theory was introduced in the controller design.The function of HJI theory is to transform the dynamic equation into the form of partial differential equation.The Lyapunov stability theory was used to prove the stability and convergence of tracking error system.The simulation is carried out which proves that the system is stable and satisfies the robustness condition.