基于Simulink/Carsim的轮式移动机器人的联合仿真及其横向稳定性研究

Co-simulation and lateral stability study of wheeled mobile robot based on Simulink/Carsim

针对轮式移动机器人横向稳定性能较差的问题,搭建Simulink电机模型与车轮转向模型,利用自带的PID闭环控制系统实现实际车速和车轮转角的自由调节,根据Carsim和Simulink的接口参数设置实现轮式移动机器人传动系统模型与电机模型和转向模型的信号传递,进而实现轮式移动机器人Simulink/Carsim联合仿真.双移线试验结果表明,联合仿真下的轮式移动机器人横向稳定性高于传统移动机器人.

Aiming at the problem of poor lateral stability of wheeled mobile robots,the Simulink engine model and wheel steering model were built,and the actual speed and wheel angle were freely adjusted by the built-in PID closed-loop control system. According to the interface parameters of Carsim and Simulink,the signal transmission of the wheeled mobile robot transmission system model,the engine model and the steering model was implemented. The Simulink/Carsim joint simulation of the wheeled mobile robot was realized. The double shift line test results showed that the lateral stability of the wheeled mobile robot under joint simulation was higher than that of the traditional mobile robot.