摘要
准确描述轮式机器人系统的运动状态是对其进行轨迹控制的关键,而当驱动轮与地面存在相对滑移或侧滑时,添加非完整约束的动力学描述方法通常会失效。为了得到适用于非结构化环境的轮式机器人动力学模型,本研究以两轮自平衡车为例,为LuGre模型添加摩擦力,以描述驱动轮与地面之间的粘滞-滑移效应;基于虚功率原理,建立包含摩擦力的轮式机器人系统动力学方程,并针对不同驱动力及不同工况条件对系统进行了动力学仿真及分析。仿真结果表明:相比于传统的添加非完整约束,基于LuGre摩擦模型的动力学建模方法可以有效侦测到驱动轮与地面的相对滑移及侧滑状态,在真实工况下反映系统动力学行为方面表现出有效性和优越性,为轮式机器人后续的优化设计及轨迹控制提供理论依据。
Accurately describing the motion state of a wheeled robot system is the key to its trajectory control.When there is a slip or side slip relative to the driving wheel,the dynamic description method that adds non-holonomic constraints is usually invalid.To obtain the dynamic model of the wheeled robotapplicable in an unstructured environment,this paper took a two-wheel self-balance vehicle as an example and described the stick-slip effect between the driving wheel and the ground by adding friction based on the LuGre model.The dynamic equation of the wheeled robot system including the friction force was established on the basis of the principle of virtual power.The dynamic simulation and analysis of the system were then carried out for different driving forces and different working conditions.The results show that compared with the traditional method with non-holonomic constraints added,the dynamic modeling method based on the LuGre friction model can effectively detect the relative slip and side slip state of the driving wheel and the ground.With the effectiveness and superiority in reflecting the dynamic behavior of the system under real working conditions,the proposed method can provide a theoretical basis for the subsequent optimization design and trajectory control of the wheeled robot.
作者
王海明
张欣刚
姚文莉
WANG Haiming;ZHANG Xingang;YAO Wenli(School of Science,Qingdao University of Technology,Qingdao 266520,China)
出处
《山东科技大学学报（自然科学版）》
CAS
北大核心
2023年第5期108-116,共9页
Journal of Shandong University of Science and Technology(Natural Science)
基金
国家自然科学基金项目(12272197,12202224)
山东省自然科学基金项目(ZR2022MA066)。
作者简介
王海明(1997-),男,山东潍坊人,硕士研究生,主要从事多体系统动力学与控制研究;通信作者:姚文莉(1969-),女,山东泰安人,教授,博士生导师,主要从事多体系统动力学与控制研究.E-mail:2490976717@qq.com。
