Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control
| Autor: | Salmiah Ahmad, Siti Fauziah Toha, Nor Mohd Haziq Norsahperi, Fadly Jashi Darsivan, Rini Akmeliawati, Abdulloh Fuad, I.A. Mahmood |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Engineering
business.industry PID controller 020101 civil engineering 02 engineering and technology Kinematics Servomotor 0201 civil engineering law.invention Modeling and simulation Constant linear velocity Model predictive control Control theory law Control system Mecanum wheel 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing business |
| Zdroj: | IOP Conference Series: Materials Science and Engineering. 184:012050 |
| ISSN: | 1757-899X 1757-8981 |
| DOI: | 10.1088/1757-899x/184/1/012050 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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