新型仿人迈步式楼梯智能清洁车的设计

Design of a New Type of Human-like Stepping Staircase Intelligent Cleaning Vehicle

针对传统清洁车单一平面的工作模式,设计了一种新型仿人迈步式楼梯智能清洁车,其整体运动方式采用仿人迈步式,通过车轮无半径转向模块使车身在狭小的楼梯之间实现无半径转弯,机身升降模块来完成前身升降和后身辅助支撑轮的升降,重心调节模块和辅助支撑轮模块以实现整体机身的稳步前进,清洁系统模块来实现楼梯面的清扫、除尘和烘干等功能。提出一种基于自适应鲁棒控制器的混沌控制方法实现永磁同步电机系统高精度的位置追踪,仿真结果表明,自适应鲁棒非线性反馈控制器对外部负载转矩扰动具有更好的鲁棒性。

Aiming at the flat working mode of traditional cleaning vehicle,a new type of humanoid walking intelligent cleaning vehicle is proposed.The whole motion mode adopts imitating human step,through the wheels without radius steering module,so that the vehicle can achieve a radius-free turn between narrow stairs.It completes the lifting of front body by the fuselage lifting module,and the back body by the auxiliary support wheel,and achieves steady progress of the whole fuselage by the center of gravity adjustment module and auxiliary support wheel module..A series of functions such as cleaning,dedusting and drying of staircase are realized by the cleaning system module.A chaos control method based on adaptive robust controller is proposed to achieve high accuracy position tracking in permanent magnet synchronous motor system. The simulation results show that the adaptive robust nonlinear feedback controller has better robustness to external load torque disturbance.