Thesis: Research on Modeling and motion control of four-wheel mobile robot

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With the development of science and technology, wheeled mobile robots are more and more widely used in industrial manufacturing, medical services, field work, space exploration and other fields. Because of its simple structure, strong economy and applicability, the four-wheel sliding steering wheel mobile robot has been widely concerned and studied. Due to the mechanical structure, this kind of robot relies on four wheel differential speed and sliding to turn. In fact, due to the environment and other factors, wheel slip will inevitably occur in the process of movement, which will affect the performance of the system. Therefore, it is of great significance for the analysis and research of wheel slip / non slip state and wheel friction. In addition, there are many differences in kinematics, dynamics modeling and motion control between the four-wheel mobile robot and other types of robots due to the differences in structure and dynamics. First of all, based on a four-wheel independent driving industrial inspection robot, this paper constructs an experimental platform. Based on the 10 DOF robot, a complete 3-D kinematic and 3-D dynamic model is established, and the corresponding parameters are identified. In the dynamic modeling, the longitudinal / lateral slip / non slip states of four wheels are considered. For various states of the system, Newton mechanical equation and Lagrange equation are used to complete the modeling. The former has the advantages that it can analyze both the motion state and the internal force of the system, while the latter can analyze the motion state of the vehicle body without solving the internal force. Secondly, based on the Newtonian dynamics model, this paper uses Matlab / Simulink simulation to analyze the situation of wheel slip / no slip and the corresponding force state and motion state of the system in the straight-line and turning motion of the robot in the plane motion. The influences of system parameters, input torque, ground friction and ground environment on the motion state of vehicle body are described in detail. This paper explains the reason of shaking and slipping in the actual movement of robot, and provides the solution. Based on the three-dimensional dynamic model of Lagrange equation and the model of Dugoff sliding friction force, the simulation analysis of the robot is carried out and compared with the former. Finally, based on the four-wheel mobile robot platform, the PID control algorithm is designed. Simulation and experiment show that the vehicle body has some problems such as jitter and internal friction in the course of straight and turning based on the traditional four-wheel independent differential control strategy. The same side unified control strategy can effectively solve the above problems, improve the motion stability and reduce the loss.

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abstract

ABSTRACT

Chapter 1 Introduction

1.1 research background

1.2 research status at home and abroad

1.2.1 research on Modeling of wheeled mobile robot

1.2.2 wheel friction analysis

1.2.3 complete constraint and non complete constraint problems and their solutions

1.2.4 control method of wheeled mobile robot

1.3 research significance and content

1.4 summary of this chapter

Chapter 2 construction of robot experiment platform

2.1 hardware platform of the system

2.2 software platform of the system

2.3 robot system experiment platform test

2.3.1 encoder data acquisition and processing

2.3.2 data acquisition of gyroscope

2.4 summary of this chapter

Chapter 3 three-dimensional modeling of system kinematics and dynamics

3.1 kinematic modeling

3.2 dynamic modeling

3.2.1 dynamic modeling by Newton mechanical equation method

3.2.2 dynamic modeling of Lagrange equation method

3.3 summary of this chapter

Chapter 4 dynamic model parameter identification and simulation experiment

4.1 system parameter identification

4.1.1 SolidWorks identification model parameters

4.1.2 identification of motor parameters by least square method

4.1.3 friction coefficient measurement experiment

4.2 dynamic model simulation analysis of Newton mechanical equation method

4.2.1 simulation analysis of vehicle body linear motion

4.2.2 simulation analysis of turning movement of vehicle body

4.3 dynamic model simulation based on Dugoff friction model

4.6 summary of this chapter

Chapter 5 research on control algorithm of four-wheel mobile robot

5.1 PID control based on speed difference

5.1.1 PID speed control based on four-wheel independent control strategy

5.1.2 simulation analysis of robot control based on dynamic model

5.2 simulation and experiment of improved robot control strategy

5.3 summary of this chapter

Chapter 6 summary and Prospect

6.1 summary

6.2 research prospect

reference

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