Modeling and Implementation of Direct Wheel Speed Control for Trajectory Tracking Control System of Sampling Robot at Customs Ports

Abstract

As a vital gateway for national economic exchange, customs ports supervise quality, quantity, and compliance of imported and exported goods. Traditional manual sampling methods at customs ports suffer from efficiency and accuracy constraints. This paper proposes a direct wheel speed control strategy for trajectory tracking of a sampling robot, incorporating PMSM drive with SVPWM modulation. A dynamic model is established and validated through simulation and experimental results.