全方位运动车辆变结构耦合同步控制策略研究  

Research on variable structure coupled synchronous control strategy for omni-directional moving vehicle

作　　者：张豫南 闫猛飞 房远 尚颖辉 ZHANG Yunan;YAN Mengfei;FANG Yuan;SHANG Yinghui(School of Weapons and Control System, Army Academy of Armored Force, Beijing 100072, China)

机构地区：[1]陆军装甲兵学院兵器与控制系,北京100072

出　　处：《兵器装备工程学报》2022年第6期116-120,175,共6页Journal of Ordnance Equipment Engineering

基　　金：军队预研基金资助项目(2019YY07)。

摘　　要：以全方位运动车辆在外界因素影响下轨迹发生偏移为切入点,针对全方位运动的特点,即直行、横移以及中心转向时需四电机转速保持同步,以任意角度斜行时需车体对角线两电机转速保持同步,提出了一种变结构耦合同步控制策略:在偏差耦合控制结构的速度补偿器中加入三轴手柄电压判断条件,以此实现四电机偏差耦合控制与两电机交叉耦合控制的切换,从而在保证全方位运动灵活性的基础上改善其轨迹偏移问题。通过建模仿真介绍了该同步控制策略的结构特点,通过履带式全方位移动叉车实车试验,证明了该控制策略的可行性与有效性。By taking the comprehensive sports vehicles trajectory due to the impact of external factors in migration as the breakthrough point,according to the characteristics of the omnidirectional movement,namely straight,horizontal and center steering need four motor speed to keep synchronous,and the speed of the two motors on the diagonal of the car body should be synchronized when the car is tilted at any angle,a variable structure coupling synchronization control strategy was proposed.A three-axis handle voltage judgment condition is added to the speed compensator of the deviation coupling control structure,by which the four-motor deviation coupling control can be switched from the two-motor cross coupling control,and the trajectory deviation problem can be improved on the basis of guaranteeing the omni-directional motion flexibility.The structural characteristics of the synchronous control strategy were introduced through modeling and simulation,and the feasibility and effectiveness of the control strategy were verified by the actual vehicle test of tracked omni-directional mobile forklift truck.

关 键 词：全方位运动 车辆 同步控制 交叉耦合 偏差耦合 

分 类 号：TH112[机械工程—机械设计及理论]