全轮转向移动平台的设计与实现

发布时间：2019-03-22 16:55

【摘要】：全轮转向移动平台是轮式机器人的重要组成部分,它具有转向半径小、转向稳定性高、易于通过狭窄路面等优点。全轮转向移动平台可作为通用底盘,搭载红外热像仪、机械臂等多种工具。不仅如此,它还可以适应不同环境的作业,成为当前研究的热点。本文以全向轮和模块化移动平台结构设计为基础,采用自主循迹的轨迹跟踪技术,集机械、自动控制技术和电子电路于一体,设计并制作了一款可远程遥控与自主循迹相结合的全轮转向移动平台。论文的主要工作有:1.全轮转向移动平台采用了模块化设计。考虑到全轮转向移动平台的维护与二次开发,各全向轮与底盘板通过法兰相连接,控制系统采用分层台架安装在底盘板上的结构,整个移动平台易于维护。2.设计了该移动平台的控制系统。移动平台的精准转向是通过PWM控制闭环步进电机实现的,前进后退是通过485总线控制轮z@电机实现的。3.通过对模糊神经网络自学习算法的研究,设计了全轮转向移动平台的轨迹跟踪控制器。并根据对移动平台的运动学特性与动力学特性的分析,建立了移动平台的运动数学模型。利用所设计的轨迹跟踪控制器对该移动平台的直线与曲线轨迹进行了跟踪仿真,验证了所设计的轨迹跟踪控制器的有效性和正确性。4.设计了移动平台的全向轮结构。采用减震机构及中空轴走线的方案设计,提高了移动平台的环境适应性,增强了移动平台在不平路面的通过稳定性及全向移动性能。5.设计远程遥控实验与自主循迹实验,测试了该移动平台的前进后退、斜行、蟹行等的远程遥控功能以及轨迹跟踪的行走功能。通过一系列的实验测试,结果表明该全轮转向移动平台是满足设计指标要求的。
[Abstract]:All-wheel steering mobile platform is an important part of wheeled robot. It has the advantages of small steering radius, high steering stability and easy passing through narrow road surface. All-wheel steering mobile platform can be used as a general chassis, equipped with infrared thermal imaging, mechanical arm and other tools. Moreover, it can adapt to different environments and become the focus of current research. Based on the structure design of omni-directional wheel and modular mobile platform, this paper adopts the track tracking technology of independent track, which integrates mechanical, automatic control technology and electronic circuit in one. An all-wheel steering mobile platform combined with remote control and autonomous tracking is designed and manufactured. The main work of this paper is as follows: 1. All-wheel steering mobile platform adopts modular design. Taking into account the maintenance and secondary development of the all-wheel steering mobile platform, each omnidirectional wheel is connected to the bottom plate by flange, the control system adopts the structure of the layered platform mounted on the bottom plate, and the whole mobile platform is easy to maintain. 2. The control system of the mobile platform is designed. The precise steering of the mobile platform is realized by using PWM to control the closed loop stepper motor, and the forward and backward direction is realized by the 485 bus control wheel z @ motor. By studying the self-learning algorithm of fuzzy neural network, a trajectory tracking controller for all-wheel steering mobile platform is designed. According to the analysis of the kinematic and dynamic characteristics of the mobile platform, the motion mathematical model of the mobile platform is established. The trajectory tracking controller is used to track the straight line and curve trajectory of the mobile platform, and the validity and correctness of the designed trajectory tracking controller are verified. 4. The omni-directional wheel structure of the mobile platform is designed. Adopting the scheme design of shock absorber and hollow axis alignment, the environmental adaptability of mobile platform is improved, and the stability and omnidirectional movement performance of mobile platform on uneven road surface are enhanced. 5. The remote control experiment and the autonomous tracking experiment are designed. The remote control functions of the mobile platform, such as forward and backward, oblique, crab and so on, as well as the walking function of the track tracking, are tested. Through a series of experimental tests, the results show that the all-wheel steering mobile platform meets the design requirements.
【学位授予单位】：安徽大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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