Mechatronic model and simulation of four-wheel Mecanum vehicle driven by BLDC

The conventional research on Mecanum vehicle mainly focuses on the analysis of its kinematic and dynamic model, while the characteristics of its driving motor are seldom considered. This paper is based on the kinematic and dynamic model of the four-wheel Mecanum vehicle, as well as the mathematical model of brushless DC motor (BLDC); by the combination of these two models, this paper presents the mechatronic modeling and simulation of the omni-directional four-wheel Mecanum vehicle driven by BLDC. This mechatronic model has been implemented with the S-function in Matlab/Simulink in this paper, and a PI controller has been employed to perform a simulation of this model. This model can not only be applied as a pseudo-entity when designing motion controller, but also be used to verify the reasonableness of other control algorithms, which offers a new way of designing and debugging the actual Mecanum-wheeled mechatronic system.