城市地下综合管廊巡检小车全转向系统研究

Research on the Omni-Directional Steering System of Patrol Vehicles in Urban Utility Tunnels

城市地下综合管廊内部紧凑,线路长且交叉路段多,采用人工巡检效率低且安全隐患较大,为了实现城市地下管廊实时全方位无盲区探测,提出了一种基于轮毂电机的巡检小车全方位转向机构,包括四轮转向机构、全方位转向机构、转向切换装置以及相关控制系统;并分析了其基本构成及工作原理,在ADAMS中通过运动学分析得到车轮转向曲线,基于MATLAB/Simulink建立驱动系统控制模型。该全转向系统可以有效完成四轮转向、零半径转向、横向移动三种转向功能,比传统四轮巡检小车转向更加灵活,结构简单,具有广阔的应用前景。

The internal structure of the urban utility tunnel with many cross-sections are compact and long.Manual patrol which may cause potential security risks is inefficient.In order to achieve real-time omnidirectional inspection,an inspection vehicles with a novel omnidirectional steering system based on in-wheel motors was proposed.Including mechanical structures,steering switching devices,and related control section,the steering system can realize four-wheel steering,omnidirectional steering and lateral movement.Kinematic analysis based on Adams gives the wheel steering curves for 4W-steering mode and omnidirectional mode.The control models for drive system built in MATLAB/Simulink show good steering performances.Compared with the traditional patrol vehicles,the omnidirectional steering with simple structures which is more flexible has broad application prospects.