动力模块车组的运动建模与规划  

Kinematic Modeling and Planning of Powered Modular Vehicle Groups

作　　者：潘大雷[1] 郭为忠[1] 高峰[1] 

机构地区：[1]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《机械工程学报》2012年第9期136-143,共8页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划;2009AA044101);教育部新世纪优秀人才支持计划(NCET-10-0567);机械系统与振动国家重点实验室(MSV-ZD-2010-02)资助项目

摘　　要：大型动力平板车及其动力模块车组是重载超大型设备与物件运输的核心装备,具有轮组数量多、轮组与转向盘采用数字连接、各轮组独立转向驱动和控制等特点,合理的轮组运动建模与规划是保证其正常高效作业的基础。根据工程应用实际需求并保证计算的实时性要求,提出典型和一般两大类运动模式。典型运动模式即绕某一固定点旋转,采用梯形转向解析法建立各轮组转角模型,并得出最小转弯半径;一般运动模式即沿任意曲线路径行进,通过分解转化为典型运动模式,再相应解算。多车并车为动力模块车组时,基于模块化思想,通过全局向单车坐标系的转换,将车组运动转化成各单车运动,再由各单车解算轮组转角,实现动力模块车组的分布式实时计算。数值仿真验证了所提方法的可行性。Powered platform vehicles and powered modular vehicle groups are fundamental tools to transport huge-size heavy-duty parts and equipments.A large number of wheels are connected to the steering wheel digitally and actuated independently so that reasonable kinematic modeling and planning of the wheels are essential to make operation of the vehicles effective.According to practical engineering requirements and real-time computation need,two types of advancing patterns are proposed including typical pattern and general pattern.In typical pattern,some fixed point is turned around by powered vehicle and the method of trapezoidal steering analysis is applied to build the wheel angle trigonometric model and the minimum turning radius is found.In general mode,the vehicle goes along a curved path decomposed into segments corresponding to typical patterns.When several platform vehicles are combined into a modular vehicle group digitally,modular idea is introduced that the path of the modular vehicle group is transferred to be paths of platform vehicles firstly by transformation from global coordinate of vehicle group to local ones of platform vehicles and then the wheel angles of each platform vehicle are solved by local computer independently.The presented method is illustrated by case studies.

关 键 词：动力模块车组 运动模式 运动建模 运动规划 

分 类 号：TH156[机械工程]