ID 原文 译文
52587 本文使用了Python对双舵轮停车机器人的运动控制与轨迹跟踪进行了数学建模并仿真，验证了设计方法的可行性。 Python is used to mathematically model and simulate the motion control and trajectory tracking of the dual steering wheel AGV, and the feasibility of the design method is verified.
52588 通过实验验证了基于偏差的纯追踪与纯追踪算法的控制比较， The control comparison of deviation-based pure pursuit method and pure pursuit method is carried out through experiments.
52589 实验结果表明所提出的双舵轮全向轨迹跟踪具有良好的控制性能。 The experimental results show that the proposed dual steering wheel omnidirectional path tracking has good control performance.
52590 针对球形机器人动力学模型不准确、参数不确定的问题，设计了一种基于李雅普诺夫(Lyapunov)方法的模型参考自适应控制(MRAC)算法。 Aiming at the problem of an inaccurate dynamic model of the spherical robot and uncertain parameters, a model reference adaptive control(MRAC) algorithm based on the Lyapunov method is designed.
52591 首先，搭建了基于全向轮驱动的球形机器人实验平台，并利用拉格朗日方程进行动力学建模。 First, a spherical robot experimental platform based on an omnidirectional wheel drive is built, and the Lagrangian equation is used for dynamic modeling.
52592 然后，为解决球形机器人运动过程中参数易受干扰的问题，采用MRAC进行运动控制，其中自适应控制率利用李雅普诺夫方法进行设计。 Then, to solve the problem that the parameters of the spherical robot are easily disturbed during the movement of the spherical robot, MRAC is used for motion control, and the adaptive control rate is designed by using the Lyapunov method.
52593 最后，通过在线仿真和实测实验，结果表明MRAC具有良好的控制效果，在运动参数受到干扰时仍有较好的控制能力。 Finally, online simulation and actual measurement experiments results show that MRAC has a good control effect and still has good control ability when the motion parameters are disturbed.
52594 步进电机作为2D伺服阀电-机械转换器，在传统工作方式下存在分辨率和响应速度之间的矛盾且容易受扰动影响， As an electro-mechanical converter of 2 D servo valve, stepper motor has the contradiction between resolution and response and is easily affected by disturbance speed under the traditional working mode,
52595 新型控制器参数人工整定费时费力且难以取得满意的控制效果。 the parameter setting manually of the new controller is laborious, and it is difficult to obtain satisfactory control effect.
52596 为了解决这些问题，本文提出了参数实时优化的自抗扰同步跟踪控制算法(AAP)， In order to solve these problems, an active disturbance rejection synchronous tracking control algorithm with real-time parameters optimization(AAP) is proposed in this paper.