Study On Obstacle-surmounting Stability Control Method Of Tracked Robots With Controllable Differential Balance Mechanism

Robot with differential balance mechanism have good terrain adaptability.Robot with controllable differential balance mechanism have more choices when facing the complex and changeable terrain,which can not only improve the trafficability of the robot,but also improve the stability of the robot.But,it is also a difficult problem in the process of obstacle surmounting that how to control the whole robot effectively and timely and how to work with multiple motors.In this paper,from the point of view of centroid kinematics theory,zynq control system and Recur Dyn simulation,the obstacle surmounting analysis of a controllable differential balance mechanism tracked robot is carried out:(1)From the theoretical point of view,this paper puts forward the scheme of the controllable differential balance mechanism,and carries out the kinematic analysis of the controllable differential balance mechanism,and deduces the relationship between the slider displacement and the box pitch angle of the controllable differential balance mechanism,which provides a theoretical basis for the use of the mechanism.Using RPY angle method,the kinematics model of the robot's center of mass is established,and the obstacle crossing motion equation is deduced.The trafficability and stability of the robot are judged by the relationship between the position of the centroid and the obstacles.According to different two-dimensional terrain,the corresponding obstacle climbing attitude planning is done.This paper focuses on the analysis of the robot climbing vertical obstacles,including the ability analysis and stability analysis,and obtains the stability margin of the robot by using the stability cone.In addition,two special cases of 3D terrain are considered,and the corresponding control strategies are given.(2)According to the application requirements of robot stability and real-time performance,a robot obstacle crossing control system based on zynq is designed.The hardware layer,control layer and system layer are introduced,and the working mode of the processor and the interface between PS and PL are analyzed.The paper realized the robot autonomous obstacle surmounting expert control system on PS,and completed the user-defined arbitration module,IMU module,motor module and the corresponding PID algorithm and interface module by block design method,software and hardware co-design on PL.At last,the timing of PL is analyzed and the timing is constrained.(3)The S-curve acceleration and deceleration method is used to simulate the robot at different speeds in the Recur Dyn multi-body dynamics simulation environment.The torque of the robot crossing vertical obstacles are compared and analyzed,and the theoretical analysis of robot attitude planning and stability margin are compared and verified.Finally,on the basis of simulation and optimization,a prototype obstacle crossing experiment is carried out to verify the effectiveness of the controllable differential balance mechanism,the effectiveness and the real-time performance of the control system,and the stability of the robot obstacle crossing.There are 100 figures,12 tables and 83 references in the thesis.