无人地面车辆差速转向动力学仿真研究

Study of Dynamic Simulating of Skid-Steering Unmanned Ground Vehicle

对差速转向无人地面车辆的受力情况进行了详细分析,建立了差速转向动力学模型,得出了驱动力和转向阻力、驱动力矩和转向阻力矩之间的动力学方程。以ADMAS软件为平台,对行进间近似匀速圆周差速转向工况进行了仿真试验。通过对试验结果的分析,验证了模型的合理性,并为下一步车辆的运动控制工作提供了理论依据。

This paper analyzed the forces of the UGV detailed,and the skid-steering dynamic model was established.Then,the dynamic equations about driving forces and resistant forces,driving torque and resistant moment were educed.A skid-steering condition was then analyzed as examples.Finally,a skid-steering model of the UGV was built by ADMAS,the condition in above paragraph was simulated.Through the analysis of the results,the rationality of the model was validated.And this basic characteristic is helpful for developing the systems of motion control of the UGV.