Identify the motion-actuator states of two wheeled robot with DFDCMS

Abstract

Based on reduced model of Double-Fed Direct Current Motor System (DFDCMS), the state space description and its key states of DFDCMS are advanced. The two wheeled robot's kinematics model and Motion-Actuator model are analyzed, the state observer based on Extended Kalman Filter(EKF) of the Two Wheels Mobile Robot(TWMR) is used to filter the signal with interference and get the key states. There are tree kinds of state observers, including the direct state observer with nothing filter(NF) ,the state observer with Butterworth Filter(BF) and the state observer with EKF, are used to compare on two kinds of experiment platform, including the simulation system and the fact system of RoboCup soccer robot. As an application example, the motion states of TWMR have been analyzed base on EKF state observer during the course of TWMR going to one goal. The experimentation indicates that the state observer based on EKF can reflect the running states of test system more availably. Index Terms -Two wheeled robot, DC motor system model, Kalman filter, State observe