In order to improve the elbow passing performance and different diameter adaptability of pipeline robot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to a...In order to improve the elbow passing performance and different diameter adaptability of pipeline robot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to adapt to the complex environment such as variable diameter pipeline and elbow.The steering characteristics passing through the elbow are studied,the kinematic of pipeline robot bending steering is established,the geometric constraint(GC)and steering constraint(SC)in the elbow are analyzed,and the steering experiment is conducted.The results show that the robot can pass through the elbow by the SC model.The SC model can reduce the motor current and energy consumption when the robot passes through the elbow.展开更多
As the traditional control algorithm is over-dependent on accurate vehicle model in intelligent vehicle steering control, a human-simulated intelligent control method is proposed based on experienced driver steering c...As the traditional control algorithm is over-dependent on accurate vehicle model in intelligent vehicle steering control, a human-simulated intelligent control method is proposed based on experienced driver steering characteristics. Intelligent vehicle unmanned steering system dynamics model and the driver model are set up.Through experienced drivers' trial run experiment, the analysis is mainly conducted on the double lanes condition.After the transformation of coordinates on global positioning system(GPS) derivative, the path information of local coordinates is accessed. The ideal driver steering path is obtained through fuzzy C-means clustering algorithm. The human-simulated intelligent controller is designed. Characteristic model is established according to the ideal and practical steering angle deviation and the deviation rate. Besides, the corresponding control rules and control modality set are designed. The joint simulation under CarSim joint/Simulink environment shows that the humanoid steering controller designed in this paper has better tracking performance than the model predictive control.展开更多
A flexible two degrees of freedom (2-DOF) steering model of multi-axlevehicle (MAV) is presented with considering the effect of frame flexibility based on the classic2-DOF model. A method to calculate the frame flexib...A flexible two degrees of freedom (2-DOF) steering model of multi-axlevehicle (MAV) is presented with considering the effect of frame flexibility based on the classic2-DOF model. A method to calculate the frame flexibility is derived by using three moments equation.The steering stability of MAV is analyzed. The steering performance of MAV is also researched infrequency domain. Simulation results show that the dynamic effects of flexible model are more severethan rigid model and the flexible effect of frame will weaken the steering stability of MAV.Different disposals of steering axles lead to different steering characteristics of MAV. Thein-phase steering mode improves the steering characteristics and stability at high speed. Theanti-phase steering mode increases the steering mobility at low vehicle speed.展开更多
基金Supported by the National Natural Science Foundation of China(No.51775323).
文摘In order to improve the elbow passing performance and different diameter adaptability of pipeline robot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to adapt to the complex environment such as variable diameter pipeline and elbow.The steering characteristics passing through the elbow are studied,the kinematic of pipeline robot bending steering is established,the geometric constraint(GC)and steering constraint(SC)in the elbow are analyzed,and the steering experiment is conducted.The results show that the robot can pass through the elbow by the SC model.The SC model can reduce the motor current and energy consumption when the robot passes through the elbow.
基金the National Key Research and Development Plan(No.2017YFB0102500)the Tianjin Science and Technology Commission Artificial Intelligence Major Project(No.17ZRXGGX00130)the Key Issues of China Automotive Technology and Research Center Co.,Ltd.(No.16190125)
文摘As the traditional control algorithm is over-dependent on accurate vehicle model in intelligent vehicle steering control, a human-simulated intelligent control method is proposed based on experienced driver steering characteristics. Intelligent vehicle unmanned steering system dynamics model and the driver model are set up.Through experienced drivers' trial run experiment, the analysis is mainly conducted on the double lanes condition.After the transformation of coordinates on global positioning system(GPS) derivative, the path information of local coordinates is accessed. The ideal driver steering path is obtained through fuzzy C-means clustering algorithm. The human-simulated intelligent controller is designed. Characteristic model is established according to the ideal and practical steering angle deviation and the deviation rate. Besides, the corresponding control rules and control modality set are designed. The joint simulation under CarSim joint/Simulink environment shows that the humanoid steering controller designed in this paper has better tracking performance than the model predictive control.
文摘A flexible two degrees of freedom (2-DOF) steering model of multi-axlevehicle (MAV) is presented with considering the effect of frame flexibility based on the classic2-DOF model. A method to calculate the frame flexibility is derived by using three moments equation.The steering stability of MAV is analyzed. The steering performance of MAV is also researched infrequency domain. Simulation results show that the dynamic effects of flexible model are more severethan rigid model and the flexible effect of frame will weaken the steering stability of MAV.Different disposals of steering axles lead to different steering characteristics of MAV. Thein-phase steering mode improves the steering characteristics and stability at high speed. Theanti-phase steering mode increases the steering mobility at low vehicle speed.
