动力学建模和跟随拖拉机-拖车轮式机器人的控制器的路径,考虑到轮子的滑动
Arsalan Babaei Robat1, Keyvan Arezoo1, Khalil Alipour1
1Advanced Service Robots (ASR) Laboratory, Department of Mechatronics Eng., Faculty of New Sciences and Technologies, University of Tehran, PO-Box 1439957131, Iran.
ISA transactions
|March 13, 2024
概括
本研究介绍了一种拖拉机-拖车轮移动机器人 (TTWMR) 模型,该模型考虑了车轮滑动,提高了机动性和有效载荷能力. 与以前的方法相比,新模型表现出优越的路径跟踪性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 控制系统 控制系统
背景情况:
- 带有拖车的差分驱动轮式机器人 (DDWR) 经常假设纯粹的滚动约束.
- 高速度,重型有效载荷或滑动表面可能会导致带拖车的DDWR遇到车轮滑动和滑动.
- 现有的模型可能无法准确地在现实条件下代表这些系统的复杂动力学.
研究的目的:
- 开发一款用于拖拉机-拖车轮移动机器人 (TTWMR) 的新型模型,该机器人包含横向和纵向方向的轮滑.
- 为了解决TTWMR的拖车的路径跟踪问题.
- 评估在各种条件下,包括外部干扰和参数不确定性,拟议的控制策略的性能.
主要方法:
- 利用拉格朗奇形式主义来推导多体TTWMR系统的动态.
- 整合了LuGre摩擦模型,以准确地表示车轮-轮胎相互作用,包括滑动.
- 应用了部分反线性化技术来解决拖车的路径问题.
主要成果:
- 模拟结果表明,拟议的方法在路径上显著优于之前的方法.
- TTWMR模型有效地捕捉了遇到轮滑的系统的动态.
- 控制策略证明了对外部干扰和系统参数不确定性的稳定性.
结论:
- 开发的TTWMR模型和控制策略为在具有挑战性的条件下运行的移动机器人提供了更好的性能和稳定性.
- 计算轮滑对于准确建模和有效控制带有拖车的DDWR至关重要.
- 这些发现表明,在实际应用中,增强轮式移动机器人的能力是一个有希望的方向.
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