双半球胶囊机器人调姿方程的幂级数解  

Power series solution of posture adjustment equation of dual-hemisphere capsule robot

作　　者：赵晓东 张永顺[1] 杨慧远[1] 刘旭 ZHAO Xiaodong;ZHANG Yongshun;YANG Huiyuan;LIU Xu

机构地区：[1]大连理工大学精密与特种加工教育部重点实验室,辽宁大连116024

出　　处：《现代机械》2020年第4期17-23,共7页Modern Machinery

基　　金：国家自然科学基金资助项目(61773084、51277018)。

摘　　要：为了探究双半球胶囊机器人调姿响应时的轴线姿态轨迹,分析其动力学响应与控制参数的关系,必须确定其动力学方程的精确解析解。在建立磁力矩简化模型的基础上,在姿态角小范围内变化时对原动力学方程选取合理近似,并对近似系统采取幂级数方法求得解析解,采用近似解析解对调姿过程中磁感应强度对机器人轴线轨迹产生的影响进行分析,仿真和试验结果一致表明,求得的幂级数解析解在时域内能够准确拟合姿态角响应结果,解析解拟合范围可控,计算结果准确可靠,可用于控制参数影响的研究。In order to investigate the axial track of the dual-hemisphere capsule robot in the process of posture adjustment,and to analyze the relationship between its dynamic response and the control parameters,it is necessary to find out an accurate analytical solution of its dynamic equation.Based on the simplified magnetic torque model,a reasonable approximation of the original dynamic equation is obtained when the attitude angles change in a small range,and an analytical solution of the approximate system is obtained by using the power series method.The approximate analytical solution is used to analyze the influence of the magnetic induction density on the axial track of the robot.Both the simulation and the experiment show that the power series solution can accurately fit the response results of the attitude angles in the time domain,that the fitting range is controllable,and that the calculation results are accurate and reliable.This method can be used to study the influence of the control parameters.

关 键 词：双半球胶囊机器人 姿态调整 幂级数方法 时域解析解 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]