| Tractor-Trailer-Bicycle robot is a three-wheel bicycle mechanism composed of a common bicycle and a trailer,which can effectively improve the load capacity of the system compared to ordinary bicycle.If a breakthrough has been made in the study of the load characteristics of the Tractor-Trailer-Bicycle robot,the mechanism will become a new type of road vehicle.However,the load quality and load position have important influence on the dynamic balancing characteristics of the Tractor-Trailer-Bicycle robot,therefore this article will study the impact of the load mass size and front-back position on the dynamic balance characteristics of the Tractor-Trailer-Bicycle robot.The main research contents are as follows:(1)Complete the calculation of each variable in Chapulegin's equation for the system,thereby establishing the dynamic model of the system;The validity of the model is prove by inverse dynamics simulation and virtual prototype simulation.(2)Based on the system,two controllers are designed,one is the partial feedback linearized controller on the basis of the ideal model,and the other is the sliding mode controller on the basis of the model with uncertainty and interference;Analyze stability of the two designed controllers.(3)Plan the rolling angle trajectory of the tractor frame,design a numerical simulation without a controller,and clarify the influence of the load mass and front-back position on the dynamic balance characteristics of the system from a single variable;Use MATLAB software to numerically simulate and analyze the results based on partial feedback and sliding mode controllers under varying load mass and front-to-rear position conditions;Simultaneously,compare and analyze the simulation results without a controller and with a controller;The sinusoidal interference signal is added,and the simulation results of the linear feedback controller and the sliding mode controller are compared,which shows the superiority of the sliding mode controller to the balance control of the towed bicycle robot.(4)Use MATLAB and ADAMS software to jointly build a virtual prototype simulation environment of the Tractor-Trailer-Bicycle robot;Based on the sliding mode controller,the virtual prototype simulation of the Tractor-Trailer-Bicycle robot is performed under different load mass sizes and front-back position conditions,and the results are analyzed.At the same time,the results are compared with the numerical simulation results.(5)Participate in the design and construction of the mechanical structure and electrical control system of the robot;The electrical control system is based on the industrial computer as the control core unit and the DSP control board for data acquisition and processing as the auxiliary unit.Write software system program;The software system includes the development of the industrial computer program based on the VS2010 environment and the DSP program based on the CCS3.3 environment.A PD controller was used to perform a physical prototype balance experiment to verify the effectiveness of the software and hardware system and the implementability of the mechanical structure of the Tractor-Trailer-Bicycle robot,and to conduct basic research for future variable load mass and forward and backward position experiments.This thesis explores the impact of the size of the load mass and the position on the dynamic balance characteristics of the Tractor-Trailer-Bicycle robot.Verify the consistency of results from planning simulation analysis of rolling angle trajectory of tractor frame,to numerical simulation analysis based on partial feedback linearized controller and sliding mode controller,to virtual prototype simulation analysis based on sliding mode controller. |
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