Design And Implementation Of Motion Control System Based On Omni-directional Mobile Platform

In recent years,with the advancement of science and technology,mobile platforms have shown an increasingly important position and role in all aspects of social production and life,and applications have become more widespread.At the same time,people's demands for mobile platforms have also increased.The higher,also prompted the development of mobile platform technology.Under normal circumstances,the traditional mobile platform,due to its own wheel system structure,there is a dead angle in the movement,can not effectively move in a narrow area.Compared with the traditional wheeled mobile platform,the omni-directional mobile platform based on Mecanum wheel can realize the movement in any direction without changing the current posture,and can complete zero-radius steering because of its high mobility flexibility and mobility.Strong advantages get more and more attention and development.Research on the motion control of the omni-directional mobile platform can exploit its sports potential to a greater extent and exert its sports advantages.Therefore,it has great academic research significance and practical application value.Firstly,the geometric features of the Mecanum wheel and the parametric modeling process are introduced,and the movement characteristics of the Mecanum wheel are analyzed.A kinematics model based on the Mecanum wheel omnidirectional mobile platform was established.In combination with a DC servo motor,a dynamic equation including a DC servo motor was established.Secondly,according to the PID control principle,the speed controller and pose controller of the omnidirectional mobile platform are designed,and the motion control simulation model of the omni-directional mobile platform is given and the model of the motion control system is validated by MATLAB/Simulink simulation.Feasibility;then through the analysis of the sliding mode control principle,the sliding mode controller is designed using the dynamic equations of an all-around mobile platform.Then,according to the functional requirements of the omni-directional mobile platform,the overall design plan of the control system is determined,the appropriate software and hardware design scheme is selected,and an all-round mobile platform control system based on STM32 is constructed.Finally,according to the control system scheme,a physical experiment prototype was built and an experimental study was carried out.A global trajectory tracking control experiment was performed,and the feasibility of the controller based on experimental prototype inspection was designed.