Active Vibration Control Of Wheeled Mobile Robot

Wheeled mobile logistics robot is an important part of the development of industrial automation,and a key technology to improve production efficiency and reduce costs.Vibration problems of heavyload wheeled mobile robots are critical factors that limit the speed of the robot and pose threats to the safety of the cargo.In this paper,a certain type of wheeled mobile logistics robot is taken as research object,of which active vibration control is studied.Firstly,the kinetic theory model of wheeled mobile robot is deduced in detail based on multi-body system dynamics,and a simple kinematic analysis is carried out under typical working conditions of wheeled mobile robot in the actual working process.Then the virtual prototyping technology is used to establish its virtual prototype in ADAMS software.In order to simulate road excitation,the time domain road model is established using MATLAB,and vibration response of the wheeled robot under road excitation is calculated.Secondly,combined with fuzzy control algorithm and SIMULINK control simulation,a traditional fuzzy controller and a selfadjusting fuzzy controller are designed to simulate the vibration control of wheeled mobile robot and its shelf.Vibration control of wheeled mobile robot is carried out under with co-simulation strategy,and the two control systems' efficiency are compared.Finally,active vibration control experiments are conducted,the results show that fuzzy control can be applied to time-delay systems.However,due to the influence of time lag,the control effectiveness of shelf vibration under single-frequency sinusoidal excitation is highly dependent on the excitation frequency.When the excitation frequency is low,the control effect is better.The higher the frequency,the lag of the vibration exciter is closer to or even greater than the sine cycle time.In such situation,the performance of the fuzzy controller is poorer.Under the sine excitation of medium and low frequency,the control efficiency of the fuzzy control system designed in this paper is between 15%-45%.