长春理工大学学报(自然科学版)
長春理工大學學報(自然科學版)
장춘리공대학학보(자연과학판)
Journal of Changchun University of Science and Technology
2015年
5期
48-52
,共5页
朱振华%吕琼莹%王一凡%丁洪韬
硃振華%呂瓊瑩%王一凡%丁洪韜
주진화%려경형%왕일범%정홍도
全向电动底盘%四轮差速转向%数学模型%转向控制
全嚮電動底盤%四輪差速轉嚮%數學模型%轉嚮控製
전향전동저반%사륜차속전향%수학모형%전향공제
omnidirectional electric chassis%four wheel differential steering%mathematical model
提出的全向电动底盘可以实现四轮独立驱动和独立转向.在Akermann-Jeantand两轮转向模型的基础上,对全向电动底盘四轮差速转向数学模型进行了研究.建立了四轮差速转向过程中四个车轮之间的角度关系和速度关系,解决了全向电动底盘四轮差速控制过程中的关键问题.利用所建立的四轮差速转向数学模型可实现全向电动底盘的四轮差速转向控制.由四轮差速转向模型可以看出,四轮差速转向逆相控制模式可使转弯半径减小一半,这对于提高全向电动底盘的灵活性和操控性具有非常重要的意义.
提齣的全嚮電動底盤可以實現四輪獨立驅動和獨立轉嚮.在Akermann-Jeantand兩輪轉嚮模型的基礎上,對全嚮電動底盤四輪差速轉嚮數學模型進行瞭研究.建立瞭四輪差速轉嚮過程中四箇車輪之間的角度關繫和速度關繫,解決瞭全嚮電動底盤四輪差速控製過程中的關鍵問題.利用所建立的四輪差速轉嚮數學模型可實現全嚮電動底盤的四輪差速轉嚮控製.由四輪差速轉嚮模型可以看齣,四輪差速轉嚮逆相控製模式可使轉彎半徑減小一半,這對于提高全嚮電動底盤的靈活性和操控性具有非常重要的意義.
제출적전향전동저반가이실현사륜독립구동화독립전향.재Akermann-Jeantand량륜전향모형적기출상,대전향전동저반사륜차속전향수학모형진행료연구.건립료사륜차속전향과정중사개차륜지간적각도관계화속도관계,해결료전향전동저반사륜차속공제과정중적관건문제.이용소건립적사륜차속전향수학모형가실현전향전동저반적사륜차속전향공제.유사륜차속전향모형가이간출,사륜차속전향역상공제모식가사전만반경감소일반,저대우제고전향전동저반적령활성화조공성구유비상중요적의의.
Omnidirectional electric chassis has such functions as four wheel independent driving and steering. In the ba-sis of Akermann-Jeantand's two wheel steering model,four wheel differential steeringmathematical model for omnidirec-tional electric chassis is studied. The relationships of angle and speed among the four wheels are established which solves the key issues in the process of differential steering control for four wheels. By use of the four wheel differential steering mathematical model, the differential steering control for four wheels of omnidirectional electric chassis can be realized.It is obviously that the four wheel differential and inverse phase steering mode can make the turning radius re-duce by half,which is very important to improve the flexibility and controllability of omnidirectional electric chassis.