重力势能驱动方向控制无碳小车的设计

Design for Gravity-Driven and Direction-Control Carbon-Free Vehicle

基于曲柄滑块转向机构原理,设计了一种以重力势能驱动的具有方向控制功能的无碳小车。建立了重力势能驱动的无碳小车的数学模型,以最大程度增大无碳小车轨迹重合度为目标,运用Simulink通过仿真分析得到最佳无碳小车绕障碍物的行驶参数。针对无碳小车结构尺寸的多样化,提出了一种能计算出最佳小车绕行的障碍物间距和初始摆放角度的后续处理方法。探讨了提高小车运行平稳的方法与措施,提高了小车的运行精度。确定了小车的结构参数及总体方案。实验表明:采用优化后的无碳小车结构和绕行参数,能够最大程度地增加轨迹绕行重复度。该小车为无碳小车的设计提供了指导意义,为相关机构的应用研究提供参考价值。

Based on the principles of crank-slide-steering mechanism,a carbon-free vehicle wasdesigned which was driven by gravitational potential energy and autonomously controlled in direction. In order to make sure the same track,the mathematical model of the carbon-free vehicle was established,simulated by Simulink,to acquire the data that carbon-free vehicle can automatically avoidthe obstacles on the way. Because the size of carbon-free vehicle was variable,an algorithm hadbeen proposed to make sure that the vehicle would adapt to the distance between obstacles and calculated the initial angle of the front wheel. It discussedhow to raisethe running performance of the vehicle. The running accuracy of vehicle might be increase,the structural parameters and the general scheme of the vehicle were determined. The experiments of the carbonfree vehicle show that the carbon-free vehicle runs on the same track after optimizing its structure and parameters. The design of the vehicle provides guidance significance for the study of carbon-free vehicle,and provides valuable reference for carbonfree vehicle research.