四轮移动机器人直线运动下的力矩优化控制
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摘要
基于连续切换轮的四轮驱动移动机器人由于其结构的特殊性,运动时四轮相互挤压,单轮输出力矩波动大,导致出现电机连接件机械磨损加剧、能耗增加等现象。针对此类问题,根据轮子与车体的运动学和动力学关系,提出同时控制车体速度与单轮输出力矩的双闭环控制方法。理论分析及实验对比表明,采用该控制方法,移动机器人沿八个特定方向做直线运动时,单轮输出力矩波动小,车体能量利用率及稳定性均有不同程度的提高。
Due to the special structure of single row alternate wheels,the mutual extrusion occured between the four wheels,which caused the phenomenon of mechanical wear intensification,single wheel output torque fluctuation and energy consumption increscent.According to the kinematic and dynamic relations between wheels and vehicle body,the double closed loop control method was presented.The comparisons of theoretical analysis and experiments showed that the energy utilization and stability of vehicle body were improved in eight specific directions by using the proposed method.
Due to the special structure of single row alternate wheels,the mutual extrusion occured between the four wheels,which caused the phenomenon of mechanical wear intensification,single wheel output torque fluctuation and energy consumption increscent.According to the kinematic and dynamic relations between wheels and vehicle body,the double closed loop control method was presented.The comparisons of theoretical analysis and experiments showed that the energy utilization and stability of vehicle body were improved in eight specific directions by using the proposed method.
引文
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[5]SAKAI S I,SADO H,HORI Y.Dynamic driving-braking force distribution in electric vehicles with independently driven four wheels[J].Electrical Engineering in Japan,2002,138(1):761-768.
[6]LI Y P,OETOMO D,ANG M H,et al.Torque distribution and slip Minimization in an omnidirectional mobile base[C]//Proceedings of the 12th International Conference on Advanced Robotics.Washington,D.C.,USA:IEEE,2005:567-572.
[7]FENG Yixiong,TAN Jianrong,LI Zhongkai,et al.Performance design of large injection and molding machine based on multi-objective genetic optimization[J].Computer Integrated Manufacturing Systems,2008,14(6):1057-1062(in Chinese).[冯毅雄,谭建荣,李中凯,等.基于多目标遗传优化的注射成型机性能设计[J].计算机集成制造系统,2008,14(6):1057-1062.]
[8]DENG X Y,ZHAO D B,YI J Q,et al.Motion and squeeze force control for omni-directional wheeled mobile robots[C]//Proceedings of the IEEE International Conference on American Control Conference.Washington,D.C.,USA:IEEE,2006:5608-5613.
[9]ZHOU Weihua,WANG Ban,GUO Jifeng.Layout selection and stability analysis of a mobile robot based on single row alternate wheel[J].China Mechanical Engineer,2014,25(7):888-894(in Chinese).[周卫华,王班,郭吉丰.连续切换全向轮移动机器人的布局方式与运动的稳定性分析[J].中国机械工程,2014,25(7):888-894.]
[10]HALLING J.Tribology principle[M].Beijing:China Machinery Press,1981(in Chinese).[霍林·J·摩擦学原理[M].北京:机械工业出版社,1981.]
[11]KALKER J J.Rolling contact of 3Delastic body[M].Chengdu:Southwest Jiaotong University Press,1993(in Chinese).[卡尔克·J·J.三维弹性体的滚动接触[M].成都:西南交通大学出版社,1993.]
[12]WILLIAMS R L,CARTER B E,GALLINA P,et al.Dynamic model with slip for wheeled omnidirectional robots[J].IEEE Transactions on Robots and Automation,2002,18(3):285-293.
[13]GUSTAFSSON F.Slip-baesd tire-road friction estimation[J].Automation,1997,33(6):1087-1099.
[14]ZHOU Weihua,WANG Ban,GUO Jifeng.Self-lock characteristics of the continuous alternate wheel and the mobile robot[J].Robot,2013,35(4):449-455(in Chinese).[周卫华,王班,郭吉丰.连续切换全向轮及其移动机器人的自锁特性[J].机器人,2013,35(4):449-455.]