双轮机器人车的仿真与控制软件研究

Study on Two-wheeled Robot Vehicle Simulation and Control Software

研究双轮机器人动态性能优化设计问题,双轮机器人车要求具有灵活性和趣味性,由于动态精度要求较高,在双轮机器人车的设计中,还缺少一个使用方便、计算准确的计算和控制参数试验的软件工具。另外,在动力学仿真中,还存在对惯性参数变化的计算不够精确等问题。为提高性能,提出在细致推导动力学模型,及惯性参数计算公式的基础上,开发了双轮机器人车的动力学仿真与控制软件,软件可方便地进行不同参数下的动力学仿真计算等功能,包括可尝试不同结构参数、惯性参数、初始状态、阻力、控制参数下的计算功能。通过实例对软件进行了检验和尝试,并研究了车轮大小、爬坡等对电机驱动力矩的需求规律,结果表明,设计的软件可方便地为机器人车的研制提供有力的支持。

The optimization problems of two-wheeled robot vehicle dynamic properties were researched in this paper.Flexibility and interesting are demanded,because of high dynamical accuracy requirements,and an easy-used software,which can predict the dynamical properties and test control parameters,is needed in two-wheeled robot vehicle design.Furthermore,there are the problems that the calculations of inertia parameters variations are not accurate in dynamical simulation.In order to improve the performances,two-wheeled robot vehicle dynamics and control simulation software were developed based on the dynamical model derivation and inertia parameter computational formula.Dynamical simulation can be done conveniently under different parameters using this software,including dynamical simulation calculation functions of different structure parameters,inertia parameters,initial status,resistance and control parameter.Cases were given to show the effectiveness of the software in the experiment.Rules of requirements of the robot vehicle with different wheel diameter and climbing slope to the motor torque were also studied.The simulation results show that the software can provide strong support for development of two-wheeled robot vehicles.