Optimisation of the control system of the electrical drives and suspension applied in wheel-legged robot using the Grey Wolf Optimizer algorithm

被引：1

作者：

Malarczyk, Mateusz ^{[1
]}

Stanislawski, Radoslaw ^{[1
]}

Zychlewicz, Mateusz ^{[1
]}

Szrek, Jaroslaw ^{[2
]}

Kaminski, Marcin ^{[1
]}

机构：

[1] Wroclaw Univ Technol, Wydzial Elekt, Katedra Maszyn Napedow & Pomiarow Elekt, Ul Smoluchowskiego 19, PL-50372 Wroclaw, Poland

[2] Wroclaw Univ Technol, Wydzial Mech, Katedra Podstaw Konstrukcji Maszyn & Ukladow Mech, Ul Lukasiewicza 7-9, PL-50371 Wroclaw, Poland

来源：

PRZEGLAD ELEKTROTECHNICZNY | 2023年 / 99卷 / 05期

关键词：

field oriented control; Grey Wolf Optimizer; optimization; the BLDC motors; wheel-legged robot;

D O I：

10.15199/48.2023.05.27

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The paper presents the control system of the electrical drives implemented in the wheel-legged robot with 14 degrees of freedom. The issues related to the control and the selection of hardware is considered. Moreover, the geometric synthesis of the mechanical system was presented (for reference trajectory tracking using one drive only). The second task was focused on the speed controller optimization. For mentioned purposes, the Grey Wolf Optimizer (GWO) was applied.

引用

页码：149 / 155

页数：7

共 37 条

[1]

Attaianese C., 1991, 91 ICAR. Fifth International Conference on Advanced Robotics. Robots in Unstructured Environments (Cat. No.91TH0376-4), P1578, DOI 10.1109/ICAR.1991.240506

[2]

Cardona M., 2020, 2020 IEEE ANDESCON, ANDESCON 2020, DOI [10.1109/ ANDESCON50619.2020.9272052, DOI 10.1109/ANDESCON50619.2020.9272052]

[3] Position and Speed Control of Brushless DC Motors Using Sensorless Techniques and Application Trends [J].