An omni-directional vehicle was fabricated and the speed control method of the omni-directional vehicle was evaluated and examined. The speed was calculated by attaching a rotary encoder to the motor and measuring the number of revolutions of the motor. Two types of evaluation were performed: evaluation for a constant speed command value and evaluation when the command speed was changed. In both evaluations, feed forward (FF) control, FF + proportional (P) control, and FF+P integral (I) control improved in the order of fidelity and response speed to command values. We were able to confirm the effect of feedback control on omni-directional vehicles.
Regarding the experiment and evaluation, I wrote a part of the content that the students implemented in the class of the graduation training in the 3rd year of Reiwa in this paper.
03_全方向移動車の速度制御方法の比較検討
