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由逆变器 - DC/DC 降压电力电子变换器系统供电的轮式移动机器人的路径跟踪

Path-Tracking of a WMR Fed by Inverter-DC/DC Buck Power Electronic Converter Systems.

作者信息

Hernández-Guzmán Victor Manuel, Silva-Ortigoza Ramón, Tavera-Mosqueda Salvador, Marcelino-Aranda Mariana, Marciano-Melchor Magdalena

机构信息

Facultad de Ingeniería, Universidad Autónoma de Querétaro, Querétaro 76010, Mexico.

Laboratorio de Mecatrónica & Energía Renovable, Centro de Innovación y Desarrollo Tecnológico en Cómputo, Instituto Politécnico Nacional, Ciudad de México 07700, Mexico.

出版信息

Sensors (Basel). 2020 Nov 15;20(22):6522. doi: 10.3390/s20226522.

DOI:10.3390/s20226522
PMID:33203072
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7696175/
Abstract

This paper is concerned with path-tracking control of a wheeled mobile robot. This robot is equipped with two permanent magnet brushed DC-motors which are fed by two inverter-DC/DC Buck power converter systems as power amplifiers. By taking into account the dynamics of all the subsystems we present, for the first time, a formal stability proof for this control problem. Our control scheme is simple, in the sense that it is composed by four internal classical proportional-integral loops and one external classical proportional-derivative loop for path-tracking purposes. This is the third paper of a series of papers devoted to control different nonlinear systems, which proves that the proposed methodology is a rather general approach for controlling electromechanical systems when actuated by power electronic converters.

摘要

本文关注轮式移动机器人的路径跟踪控制。该机器人配备有两个永磁有刷直流电机，由两个作为功率放大器的逆变器 - 直流/直流降压功率转换器系统供电。通过考虑我们所提出的所有子系统的动力学，我们首次给出了针对此控制问题的形式化稳定性证明。我们的控制方案很简单，从某种意义上说，它由四个内部经典比例积分环和一个用于路径跟踪的外部经典比例微分环组成。这是致力于控制不同非线性系统的系列论文中的第三篇，证明了所提出的方法是一种在由电力电子转换器驱动时控制机电系统的相当通用的方法。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/44a36d60d654/sensors-20-06522-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/6266c5d455c8/sensors-20-06522-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/69aab5d16321/sensors-20-06522-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/f4d4cf0cdf1d/sensors-20-06522-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/0b708918595c/sensors-20-06522-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/93a95efd6e21/sensors-20-06522-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/bdb2d3eaba4b/sensors-20-06522-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/44a36d60d654/sensors-20-06522-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/6266c5d455c8/sensors-20-06522-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/69aab5d16321/sensors-20-06522-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/f4d4cf0cdf1d/sensors-20-06522-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/0b708918595c/sensors-20-06522-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/93a95efd6e21/sensors-20-06522-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/bdb2d3eaba4b/sensors-20-06522-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/e12f/7696175/44a36d60d654/sensors-20-06522-g007.jpg

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本文引用的文献

1
Sensorless load torque estimation and passivity based control of buck converter fed DC motor.基于无传感器负载转矩估计和无源性的降压式变换器供电直流电动机控制
ScientificWorldJournal. 2015;2015:132843. doi: 10.1155/2015/132843. Epub 2015 Mar 29.