松软地面轮式移动机器人低能耗通过性机理与控制研究

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In order to ensure preferable through-put capacity of the wheeled robot on the soft ground with lower energy consumption, the mechanics model for wheel-ground contacts is established by analyzing the wheel-ground contact mechanics based on the theory of ground mechanics. Via exploration on the wheel＇s driveability, it takes the wheel slip coefficient as the state variable to create a model on dynamical force that is interacted by the wheels and the soft ground and then, design a fuzzy drive controller to track the expected wheel slip coefficient of the wheeled mobile robot. According to MArl＇LAB / SIMULINK simulation results it show that within the time of 0.5 s, the controller can effectively track the desired slip coefficient, so that the wheeled mobile robot can always run at peak performance.为确保松软地面轮式移动机器人在较低的能耗下具有更好的通过性,基于地面力学理论分析了轮地接触力学特性,建立了轮地接触力学模型。通过对车轮驱动性能的研究,以车轮滑转率为状态变量,建立了车轮与松软地面相互作用的动力学模型,设计了用模糊驱动控制器来跟踪轮式移动机器人车轮的期望滑转率。MATLAB/SIMULINK仿真结果表明,该控制器可以在0.5s时间内有效地跟踪期望滑转率,使轮式移动机器人始终运行在最佳状态。