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ωc = 0 (10)
(φ̇r −φ̇l )r
2b
That can be rewritten as:
AT (q) · q̇ = 0 (14)
sin(θ) − cos(θ) −d 0 0
AT (q) = cos(θ) sin(θ) b −r 0 (15)
cos(θ) sin(θ) −b 0 −r
1
2 Dynamics
The Langrage equations of nonholonomic system are given by [1]
T T
d ∂L ∂L
− = S(q)τ + A(q)λ (16)
dt ∂ q̇ ∂q
Let us solve left side of the dynamic equation for each generalized coordinate of q.
We know that L(q, q̇) = T (q, q̇)−U(q). However the mobile robot has a horizontal restricted dynamics
that yields U(q) = 0.
1 1 1 1
L(q, q̇) = T (q, q̇) = mr vc2 + Ir θ̇2 + Iw φ̇2r + Iw φ̇2l (18)
2 2 2 2
1 1 1 1
L(q, q̇) = mr ẋ2 + ẏ 2 − 2d sin(θ)ẋθ̇ + 2d cos(θ)ẏ θ̇ + θ̇2 d2 + Ir θ̇2 + Iw φ̇2r + Iw φ̇2l (19)
2 2 2 2
• For x
d ∂L ∂L
− = mẍ − md sin(θ)θ̈ − md cos(θ)θ̇2
dt ∂ ẋ ∂x
• For y
d ∂L ∂L
− = mÿ − md cos(θ)θ̈ − md sin(θ)θ̇2
dt ∂ ẏ ∂y
• For θ
d ∂L ∂L
− = −md sin(θ)ẍ + md cos(θ)ÿ + Ir + md2 θ̈
dt ∂ θ̇ ∂θ
• For φr
d ∂L ∂L mrd sin(θ) mrd cos(θ) mrd cos(θ) mrd sin(θ)
− =− ẍ + ÿ − ẋθ̇ − ẏ θ̇+
dt ∂ φ˙r ∂φr b b b b
md2 r2 Ir r2 md2 r2 Ir r2
Iw + + 2 φ̈r − + 2 φ̈l (20)
4b2 4b 4b2 4b
• For φl
d ∂L ∂L mrd sin(θ) mrd cos(θ) mrd cos(θ) mrd sin(θ)
− = ẍ − ÿ + ẋθ̇ + ẏ θ̇
dt ∂ φ̇l ∂φl b b b b
md2 r2 Ir r2 md2 r2 Ir r 2
+ Iw + + 2 φ̈l − + 2 φ̈r (21)
4b2 4b 4b2 4b
2
The dynamical model can be written in matrix form where
q̇ = G(q)v (25)
Solving for the differential drive robot we have
br cos(θ)+dr sin(θ) br cos(θ)−dr sin(θ)
2b 2b
br sin(θ)−dr cos(θ) br sin(θ)+dr cos(θ)
2b 2b
G(q) = r r (26)
2b − 2b
1 0
0 1
From equation (14) one can see that G(q) columns are the null spaces of A(q)T so that A(q)T ·G(q) =
T
G(q) · A(q) = 0.
The Lagrange multipliers in equation (35) can be eliminated premultiplying both sides of the equation
by G(q)T . This leads to the reduced dynamic model
q̈ = Ġ(q)v + G(q)v̇
The state space reduced model can be found by solving for q̇ and v̇
3
q̇ = G(q)v (31)
v̇ = −M−1 (q)m(q, v) + M−1 (q)GT (q)S(q)τ (32)
4 DC Motor Model
DC motor dynamics are given by
L di + Ri + K φ̇ = E
w
dt (33)
Is φ̈ − Kt i + V φ̇ − τ = 0
as in [ 1, p.198 ] where E and i denote the armature voltage and current, R and L are respectively the
armature resistance and inductance while Is is the motor shaft inertia, V the viscous friction coefficient
and τ the dynamic load applied to the motor. Kt is the motor torque constant and Kw the voltage
constant.
A reduced order model can be achieved for the dynamic behaviour since the electric time constant
L
R can be neglected if compared to the mechanical time constant VI . Hence, we consider L = 0 and the
first equation yields
E − Kw φ̇
i=
R
that can be replaced on the second equation
!
E − Kw φ̇
Is φ̈ − Kt + V φ̇ − τ = 0
R
That gives us
Kt Kw Kt
Is φ̈ + + V φ̇ − E=τ (34)
R R
Therefore the new dynamic model for the mobile robot including the DC motor dynamics is
4
References
[1] B. Siciliano, P. L. Sciavicco, L. Vilani and G. Oriolo, A Guide to LATEX, 3rd ed. Harlow, England:
Addison-Wesley, 1999.