運用干擾觀測器於移動式機器人的運動控制

Motion Control for Mobile Robots Using Disturbance Obsever

陳至傑(Chih-Jie Chen)

指導教授 ： 葉賜旭

國立臺北科技大學/機電學院/機電整合研究所/碩士(2008年)

https://doi.org/10.6841/NTUT.2008.00619

摘要

比例積分控制是經常使用在移動式機器人的運動控制上，但是比例積分控制對於消除地面的擾動不具強健性，所以由路面狀況所產生的外部扭矩干擾，會破壞馬達的響應性能，進而限制移動式機器人的移動性能。
所以為了改善平台移動的準確性，本文提出三種控制器是基於干擾觀測器設計出來，第一種扭矩補償的PI控制是藉由整合傳統比例積分控制和干擾觀測器所產生的；第二種是融入干擾觀測器的模糊比例積分控制器控制器，藉由增加干擾訊號到模糊比例積分控制器的輸入，使得輸入源為誤差、誤差斜率、干擾訊號；第三種扭矩補償模糊PI控制器是藉由整合模糊比例積分控制和干擾觀測器所產生的。上述三種控制器都被提出去消除地面產生的擾動，來達到改善移動式機器人的移動。
將上述提出的控制器跟傳統的比例積分控制器，運用在移動式機器人的馬達控制上做比較，經由實驗顯示提出的控制器，運用在移動式機器人可以提供更好的運動性能。

關鍵字

干擾觀測器 ； 移動式機器人 ； 運動控制

並列摘要

For motion control of mobile robot, PI control is often employed in the way of the motion control. But PI control is not robust for eliminating the disturbance of road. Therefore the external torque disturbances induced by the road situations still deteriorate the speed response of motor, and limit the motion performances of mobile robot.
To improve motion accuracy of mobile robot, the paper designed three controllers on the basis of disturbance observer. The first, the torque-compensated PI control is integrated traditional PI control with a disturbance observer. The second, the fuzzy PI control is integrated traditional fuzzy PI control with signal of disturbance observer. Then, input of fuzzy PI is error, slope of error, and signal of disturbance. The last, the torque-compensated fuzzy PI control is integrated fuzzy PI control with a disturbance observer. The three controllers are presented to eliminate the disturbance of road, and to improve motion of the mobile robot.
Using the suggested controllers and traditional PI control for applied mobile robot are compared. The experiment show the suggested controllers can provide good motion performance for the applied mobile robot.

並列關鍵字

Disturbance observer ； Mobile robot ； Motion control

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