农业轮式机器人底盘转向运动控制及试验  

Research on steering motion control and experiments of agricultural wheeled robot chassis

作　　者：瞿济伟 李鸿基 张瑞宏[1] 郭康权[2] 丁钰洲 汪斌 Qu Jiwei;Li Hongji;Zhang Ruihong;Guo Kangquan;Ding Yuzhou;Wang Bin(College of Mechanical Engineering,Yangzhou University,Yangzhou,225000,China;College of Mechanical and Electronic Engineering,Northwest A&F University,Xianyang,712100,China)

机构地区：[1]扬州大学机械工程学院,江苏扬州225000 [2]西北农林科技大学机械与电子工程学院,陕西咸阳712100

出　　处：《中国农机化学报》2023年第5期140-147,160,共9页Journal of Chinese Agricultural Mechanization

基　　金：江苏省农业科技自主创新资金(CX(21)3153);江苏省自然科学基金(BK20210823);江苏省现代农机装备与技术示范推广项目(NJ2021—16);扬州大学大学生科技创新基金(X20220305)。

摘　　要：针对农业轮式机器人各转向轮协调控制问题,提出一种转向运动控制方法。基于轮毂电机驱动的四轮独立转向机器人底盘结构,采用PID控制方法,构建轮间跟随联动的转向协调控制策略;设计轮式机器人转向控制的硬件与软件系统,对PID控制参数进行整定;并进行样机台架试验及路面验证试验。结果表明:该方法能精准控制轮毂电机转速,最佳PI控制参数K_(p)为0.45,K_(i)为0.02;台架试验中,底盘启动时存在1°~3°转向误差,但随时间推移,各轮逐渐吻合阿克曼转向关系;路面试验中,转向角可随目标信号实时调整,保持阿克曼转向关系,转角误差2°~3°,转向时间小于3 s,满足本文轮式机器人的作业要求。Aiming to achieve coordinated control of steering wheels for agricultural wheeled robots,a steering motion control method is proposed in this paper.Based on the chassis structure of a four-wheel independent steering robot driven by in-wheel motors,a coordinated steering control strategy of wheel following linkage is constructed using the PID control method.The hardware and software systems for the steering control of wheeled robots are designed,and the PID control parameters are tuned.Prototype bench tests and pavement verification tests were carried out.The results show that the method can accurately control the speed of the hub motor.The optimal PI control parameters are K_(p)=0.45 and K_(i)=0.02.In the bench test,there was a 1°-3°steering error when the chassis started,but over time,each wheel gradually conformed to the Ackerman steering relationship.In the road test,the steering angle can be adjusted in real-time with the target signal to maintain the Ackerman steering relationship.The angle error was 2°-3°,and the steering time was less than 3 s,which met the operating requirements of the wheeled robot.

关 键 词：轮式机器人 四轮独立转向 控制策略 PID参数整定 

分 类 号：S229.1[农业科学—农业机械化工程]