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结合车轮沙土相互作用的力学分析,研究解决轮式移动机器人沙地行驶车轮过度滑转下陷问题。考虑纵列式重复通过车轮沙土力学参数的修正,建立六轮式沙地移动机器人的动力学模型,以车轮滑转率为状态变量,设计了移动机器人沙地行驶的滑模驱动控制器跟踪车轮期望滑转率。MATLAB/Simulink仿真结果表明,采用该控制器可以较快地跟踪期望滑转率,有效地限制机器人车轮的滑转,避免车轮的过度下陷。
Based on the mechanics analysis of wheel sand interaction, this paper studies how to solve the problem of over-slip and sag of wheels moving wheels in wheeled mobile robots. Considering the tandem repetition, the dynamic model of six-wheeled sand mobile robot is established by modifying the parameters of wheel sand mechanics. The sliding mode of the mobile robot is designed as the state variable. Desired slip rate. The simulation results of MATLAB / Simulink show that the proposed controller can track the expected slip faster and effectively limit the wheel slipping and avoid excessive sag.