Research On The Driving Control Of Wheeled Mobile Robots With Multiple Independently Driven Wheels

As the development and sophistication of wheel-driven systems, computer technology and control theory, wheeled mobile robot has gradually become more efficient, and multi-functioning, while progressively taking an important role in military and civilian applications. As the internal structure and dynamic control characteristics varied by the wheeled mobile robot invention, it contains significant meaning in the research field. The dissertation will focus on the traction control and dynamic control of four-wheel mobile robot. The main contributions of dissertation are as follows:The 3-DOF dynamic principles and the model of the wheels. Each wheel of the four-wheel mobile robot is controlled independently, and the torque and the speed of each wheel can be assigned precisely. With these characteristics, we analyzed the tangential force and lateral force transmission between wheel and the road, and then use the slip ratio and coefficient of friction to describe the drive or braking force between the wheels and the road. Based on the mechanical analysis of four-wheel mobile robot, a 3-DOF body dynamics model is established.Motion control algorithm design. Based on wheel torque distribution of kinetic stability control algorithm, by monitoring the slipping condition of the robot's each wheel, adjusting the wheel's exporting torque, distributing the distribution and magnitude of the wheel longitudinal force and lateral force to produce torque in order to keep certain characteristic of dynamics, to keep the stability of driving.Anti-Slip control algorithm design. Based on the analysis of the basic principles of the Slip Ratio Control and the Model Following Control, we establish the 1/4 model of the four-wheel robot. We employed two kinds of control algorithms to perform the simulation of the traction control, and then the corresponding performances of them are compared.The design and application of mobile robots with Star Wheels. This design had achieved the kind of directed electric drive electrical driven star wheeled mobile robots and a correspondent control system. The Structure of the mobile robot has applied for Patent.