發(fā)布時(shí)間：2019-03-22 16:55

【摘要】：全輪轉(zhuǎn)向移動(dòng)平臺(tái)是輪式機(jī)器人的重要組成部分,它具有轉(zhuǎn)向半徑小、轉(zhuǎn)向穩(wěn)定性高、易于通過狹窄路面等優(yōu)點(diǎn)。全輪轉(zhuǎn)向移動(dòng)平臺(tái)可作為通用底盤,搭載紅外熱像儀、機(jī)械臂等多種工具。不僅如此,它還可以適應(yīng)不同環(huán)境的作業(yè),成為當(dāng)前研究的熱點(diǎn)。本文以全向輪和模塊化移動(dòng)平臺(tái)結(jié)構(gòu)設(shè)計(jì)為基礎(chǔ),采用自主循跡的軌跡跟蹤技術(shù),集機(jī)械、自動(dòng)控制技術(shù)和電子電路于一體,設(shè)計(jì)并制作了一款可遠(yuǎn)程遙控與自主循跡相結(jié)合的全輪轉(zhuǎn)向移動(dòng)平臺(tái)。論文的主要工作有:1.全輪轉(zhuǎn)向移動(dòng)平臺(tái)采用了模塊化設(shè)計(jì)�？紤]到全輪轉(zhuǎn)向移動(dòng)平臺(tái)的維護(hù)與二次開發(fā),各全向輪與底盤板通過法蘭相連接,控制系統(tǒng)采用分層臺(tái)架安裝在底盤板上的結(jié)構(gòu),整個(gè)移動(dòng)平臺(tái)易于維護(hù)。2.設(shè)計(jì)了該移動(dòng)平臺(tái)的控制系統(tǒng)。移動(dòng)平臺(tái)的精準(zhǔn)轉(zhuǎn)向是通過PWM控制閉環(huán)步進(jìn)電機(jī)實(shí)現(xiàn)的,前進(jìn)后退是通過485總線控制輪z@電機(jī)實(shí)現(xiàn)的。3.通過對(duì)模糊神經(jīng)網(wǎng)絡(luò)自學(xué)習(xí)算法的研究,設(shè)計(jì)了全輪轉(zhuǎn)向移動(dòng)平臺(tái)的軌跡跟蹤控制器。并根據(jù)對(duì)移動(dòng)平臺(tái)的運(yùn)動(dòng)學(xué)特性與動(dòng)力學(xué)特性的分析,建立了移動(dòng)平臺(tái)的運(yùn)動(dòng)數(shù)學(xué)模型。利用所設(shè)計(jì)的軌跡跟蹤控制器對(duì)該移動(dòng)平臺(tái)的直線與曲線軌跡進(jìn)行了跟蹤仿真,驗(yàn)證了所設(shè)計(jì)的軌跡跟蹤控制器的有效性和正確性。4.設(shè)計(jì)了移動(dòng)平臺(tái)的全向輪結(jié)構(gòu)。采用減震機(jī)構(gòu)及中空軸走線的方案設(shè)計(jì),提高了移動(dòng)平臺(tái)的環(huán)境適應(yīng)性,增強(qiáng)了移動(dòng)平臺(tái)在不平路面的通過穩(wěn)定性及全向移動(dòng)性能。5.設(shè)計(jì)遠(yuǎn)程遙控實(shí)驗(yàn)與自主循跡實(shí)驗(yàn),測(cè)試了該移動(dòng)平臺(tái)的前進(jìn)后退、斜行、蟹行等的遠(yuǎn)程遙控功能以及軌跡跟蹤的行走功能。通過一系列的實(shí)驗(yàn)測(cè)試,結(jié)果表明該全輪轉(zhuǎn)向移動(dòng)平臺(tái)是滿足設(shè)計(jì)指標(biāo)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.
【學(xué)位授予單位】：安徽大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：2445763