【作者】 方浩； 李路； 贾睿； 窦丽华；

【Author】 FANG Hao,LI Lu,JIA Rui,DOU Lihua School of Automation,Beijing Institute of Technology,Beijing 100081,P.R.China

【机构】 北京理工大学自动化学院；

【摘要】 本文基于虚拟样机技术,在动力学仿真软件ADAMS中建立轮式机器人整体模型(包括各种地面约束和轮胎模型)。根据真实路面的采集数据,在ADAMS/View中采用径向基函数插值法模拟实际路面。从移动机器人运动学模型出发,根据链式系统理论设计出轮式机器人轨线跟踪控制器,借助MATLAB/Simulink强大的编程功能,构建ADAMS和MATLAB联合仿真平台,验证在不同路面环境下的轨线跟踪控制器的性能并进行相应参数测量。联合仿真试验结果表明,所设计的控制器能很好的完成在复杂路面环境下的轨线跟踪控制。更多还原

【Abstract】 Based on the Virtual Prototype Technology,a model of Wheeled Mobile Robot(WMR)including the mechanical joints,tires and ground condition is built by using ADAMS.Furthermore according to the sampled data of real roads,the RBF-based numerical interpolation method is applied to build 3D virtual grounds in ADAMS/View that can simulate the real road and road-tire adhesion.With the help of chained system theory,a path following controller is designed with MATLAB/Simulink and is carried out with ADAMS to compose a co-simulation platform.By using the Co-simulation platform,the performance of trajectory tracking controller is tested and verified for different road conditions.Also some key parameters are measured for forthcoming sliding compensation.The experiment results show that the designed controller can achieve satisfactory trajectory track results for different road conditions.更多还原