摘要
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 stability of steering of four wheel driving mobile robots at high speed and the flexibility of steering at low speed. The steering control for four wheel driving mobile robots is researched. First, the 3-DOF model of steering robots is established. Through analyzing the kinematic and dynamic equation of robots, the control objective of the best performance of the wheel speed and yaw rate are settled. Then a fuzzy control strategy of four-wheel speed and yaw moment is proposed, and a fuzzy control system is designed. Finally, a four-wheel driving robot system is built. The experiments show that the stability of steering at high speed and the flexibility at low speed are obviously improved, and has strong robustness.
出处
《控制工程》
CSCD
北大核心
2017年第11期2387-2393,共7页
Control Engineering of China
