全方向移動ロボット向けブラシレスモータのトルク制御実装
Implementation of Torque Controller for Brushless Motors on the Omni-directional Wheeled Mobile Robot
床面摩擦が変化する競技環境でPIゲイン調整を不要にするため、ブラシレスモータの動力学とPI制御を組み合わせたトルク制御器を実装し、通常PI制御より良い経路追従を実現した。
著者: Piyamate Wasuntapichaikul, Kanjanapan Sukvichai, Yodyium Tipsuwan
分類: cs.RO
原文アブストラクト
The major issue for the wheeled mobile robot is the low level controller gains tuning up especially in the robot competition. The floor surface can be damaged by the robot wheels during the competition, therefore the surface coefficient can be changed over time. PI gains have to be tuned before every match along the competition. In this research, the torque controller is defined and implemented in order to solve this problem. Torque controller consists of a PI controller for the robot wheel's angular velocity and a dynamic equation of brushless motor. The motor dynamics can be derived from the energy conservation law. Three different carpets, which have the different friction coefficients, are used in the experiments. The robot wheel's angular velocity profiles are generated from the robot kinematics with different initial conditions. The output paths of the robot with the torque controller are compared with the output paths of the robot with regular PI controller when the same wheel angular velocity profiles are applied. The results show that the torque controller can provide a better robot path than the normal PI controller.