一种基于功放幅频特性的信号源设计方法

As unmanned electric wheeled mobile robots have been increasingly applied to high-speed operations in unknown environments, the wheel slip becomes a problem when the robot is either accelerating, decelerating, or turning at high speed. Ignoring the effect of wheel slip may cause the mobile robot to deviate from the desired path. In this paper a recently proposed method is implemented to estimate the surface conditions encountered by an unmanned wheeled mobile robot, without using extra sensors. The method is simple, economical and needs less processing power than for other methods. A reaction torque observer is used to obtain the rolling resistance torque and it is applied to a wheeled mobile robot to obtain the surface condition in real-time for each wheel. The slip information is observed by comparing the reaction torque of each wheel. The obtained slip information is then used to control the torque of both wheels using a torque controller. Wheel slip is minimized by controlling the torque of each wheel. Minimizing the slip improves the ability of the unmanned electric wheeled mobile robot to navigate in the desired path in an unknown environment, regardless of the nature of the surface.     

一种基于成型滤波器的信号源补偿方法

针对主动声纳信号源输出信号畸变影响参数估计问题,提出了一种基于成型滤波器的信号源补偿方法。该方法首先求取信号源中功率放大器非线性变换传递函数;然后根据该传递函数构造成型滤波器;最后由成型滤波器对信号源生成信号进行补偿修正,得到未畸变的输出信号。理论分析和仿真结果表明,在仿真条件下,该方法可有效解决信号源输出信号畸变问题,提高信号源输出信号在主动声纳应用中的鲁棒性,使频带宽度估计准确率提高40%以上。