【作者】 卢盛才；

【导师】 郑志强；

【作者基本信息】 国防科学技术大学 ， 控制科学与工程， 2009， 硕士

【摘要】 本文以RoboCup中型组机器人足球赛为应用背景,在NuBot第三代中型组足球机器人的技术基础之上,根据机器人足球赛对机器人系统提出的更高要求,重新设计了新一代的足球机器人,并在机器人足球比赛的背景下研究了全向移动平台的运动控制问题。在足球机器人设计方面,本文做了如下工作：一,设计了一种新的全向轮,其运动平稳性和摩擦力特性优于现有全向轮；二,设计了一种新的轴系结构,能有效减少轮系空程；三,以新全向轮为基础搭建了新的全向移动平台；四,分析并设计了有效的主动控球系统。包括对控球机构的原理分析,指出使主动控球机构有效工作的关键是同时控制主动轮的转速和转矩；五,对主动控球机构提出了一种有效的开环控制方法。在全向移动平台运动控制方面,本文推导了全向移动平台的模型,包括运动学模型,动力学模型,及基于动力学模型的控制模型。根据实际需要对控制模型进行输入域解耦和通道解耦,将模型进行合理简化。本文还归纳了基于足球机器人比赛背景的几种典型的全向移动平台控制问题,然后将这几种控制问题归纳为输入约束下的时间最优控制问题。由于具有输入约束的时间最优控制难以求出解析解,本问中将问题进行转化,提出了一种可等效求解输入约束下时间最优控制问题的数值算法。实验结果表明,本文设计的新一代中型组足球机器人各方面性能均满足比赛要求,提出的控制问题符合实际,采用的控制方法有效。更多还原

【Abstract】 In the thesis, a new soccer robot was designed. The robot was based on the works of the 3rd edition of NuBot soccer robot, and was designed for the application in the middle-size league of RoboCup. The thesis also studies the motion control problem of the omni-directional transfer platform.On the design of robot, the main works of the thesis were as follows:first, a new style of omni-directional wheel was designed. Compared with the other omni-directional wheels, the new wheel is much smoother and has bigger friction dur-ing the movement of the platform. Second, a new structure for connecting the motor axis and wheels was designed, which was able to reduce the space between the wheel and the motor. Third, a new omni-directional transfer platform with the new omni-directional wheel was build. Forth, a valid active ball handing mechanism was designed, the analyze of the principle of the mechanism was also given. It identify that the key point to make the mechanism work is controlling the speed and the torque of the active wheels at a same time. Fifth, an open-loop control method for the active ball handing mechanism was developed.On the control of omni-directional transfer platform, the thesis give the model of the omni-directional transfer platform, including the model of kinematics and dynamics and the control model which was based on the model of dynamics.The input of the model was simplified. And the thesis also concluded several typi-cal motion control situation of the omni-directional transfer platform, and was turned to be the time option control problem with input restriction. Because the time option con-trol problem with input restriction could hardly find the algebraic solution, the problem was switch to another form, and could be solved equivalently with another method to find the arithmetical solution of the answer.It was proved by the experiment that the newly build soccer robot satisfy the need of the competition, and the problem was concluded correctly according to the fact. And the control method was proved works very well.更多还原