在Robotino中使用几何运动控制方法，利用直流驱动器的平整度来模拟解耦MPC的发电机

2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion Pub Date : 2014-06-18 DOI:10.1109/SPEEDAM.2014.6871967

Daniel Strassberger, Paolo Mercorelli, A. Georgiadis

{"title":"在Robotino中使用几何运动控制方法，利用直流驱动器的平整度来模拟解耦MPC的发电机","authors":"Daniel Strassberger, Paolo Mercorelli, A. Georgiadis","doi":"10.1109/SPEEDAM.2014.6871967","DOIUrl":null,"url":null,"abstract":"This paper proposes a controller for motion control of the Robotino. The proposed controller takes under consideration a noninteracting control strategy realized using a geometric approach and the flatness of the DC-Drives. Horizon, Vertical and Angular motions are considered and once the decoupling between these motions is obtained, a Model Predictive Control (MPC) strategy is used in combination with a preselecting matrix. Simulation results using real data of Robotino are shown.","PeriodicalId":344918,"journal":{"name":"2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion","volume":"108 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino\",\"authors\":\"Daniel Strassberger, Paolo Mercorelli, A. Georgiadis\",\"doi\":\"10.1109/SPEEDAM.2014.6871967\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a controller for motion control of the Robotino. The proposed controller takes under consideration a noninteracting control strategy realized using a geometric approach and the flatness of the DC-Drives. Horizon, Vertical and Angular motions are considered and once the decoupling between these motions is obtained, a Model Predictive Control (MPC) strategy is used in combination with a preselecting matrix. Simulation results using real data of Robotino are shown.\",\"PeriodicalId\":344918,\"journal\":{\"name\":\"2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion\",\"volume\":\"108 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-06-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SPEEDAM.2014.6871967\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SPEEDAM.2014.6871967","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

摘要

本文提出了一种机器人运动控制控制器。该控制器考虑了采用几何方法实现的非交互控制策略和直流驱动器的平整度。考虑水平运动、垂直运动和角运动，一旦这些运动解耦，结合预选矩阵使用模型预测控制(MPC)策略。给出了利用Robotino实际数据的仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino

This paper proposes a controller for motion control of the Robotino. The proposed controller takes under consideration a noninteracting control strategy realized using a geometric approach and the flatness of the DC-Drives. Horizon, Vertical and Angular motions are considered and once the decoupling between these motions is obtained, a Model Predictive Control (MPC) strategy is used in combination with a preselecting matrix. Simulation results using real data of Robotino are shown.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion

自引率

0.00%

发文量