Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control

[摘要] This paper presents a study on a control system for a heavy-duty four Mecanum wheel platform. A mathematical model for the system is synthesized for the purpose of examining system behavior, including Mecanum wheel kinematics, AC servo motor, gearbox, and heavy duty load. The system is tested for velocity control, using model predictive control (MPC), and compared with a traditional PID setup. The parameters for the controllers are determined by manual tuning. Model predictive control was found to be more effective with reference to a linear velocity.

[发布机构] Department of Mechatronics Engineering, Kulliyyah of Engineering, International Islamic University Malaysia, Malaysia^1;Department of Mechanical Engineering, Kulliyyah of Engineering, International Islamic University Malaysia, Gombak; 53100, Malaysia^2

[效力级别] 无线电电子学 [学科分类] 航空航天科学

[关键词] AC servo motor;Heavy duty;Linear velocity;Manual tuning;Mecanum wheels;Model and simulation;System behaviors