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为提高四轮驱动转向机器人在高速运行下转向的稳定性以及低速运行下转向的灵活性,研究了四轮驱动转向机器人的转向控制。首先,建立了机器人3自由度转向动力学模型,通过分析模型的运动学方程和动力学方程,确定了四轮转速和横摆角速度具有理想输出响应的控制目标。然后,设计了模糊控制系统用于控制四轮转速和横摆力矩。最后,搭建四轮驱动机器人系统,并进行试验验证。试验结果表明:所设计的系统可有效改善四轮独立驱动转向机器人高速运行下转向的稳定性以及低速运行下转向的灵活性系统具有较强的鲁棒性。
In order to improve the steering stability of the four-wheel drive steering robot at high speed and the steering flexibility at low speed, the steering control of the four-wheel drive steering robot is studied. Firstly, the 3-DOF steering dynamics model of the robot is established. By analyzing the kinematics and dynamics equations of the model, the control targets with ideal output response of 4-wheel speed and yaw rate are determined. Then, a fuzzy control system was designed to control four-wheel speed and yaw moment. Finally, a four-wheel drive robotic system is built and tested. The experimental results show that the designed system can effectively improve the steering stability of the four-wheel drive steering robot at high speed and the flexibility of the steering system at low speed.