摘要
针对高速移动的轮式小车因地形颠簸而跃起后,其车身在空中失衡且不易控制的问题,从仿生蜥蜴角度出发,提出通过改变小车后轮转动来控制车身姿态的方法。基于PWM脉宽调制方法,通过在车身安装编码器、单片机及通信装置,实现对小车后轮转动的控制。根据小车动力学分析所得运动方程和状态方程,通过PD控制方法对所建实验平台中小车姿态进行实时检测并控制其变化。实验结果表明,通过控制小车后轮转动能有效调整小车在空中的姿态,有利于其安全着陆。
For the problem of unbalance and being hard to control of high-speed wheeled vehicle when it's jumping through rough terrain, inspired by the lizards, a novel approach to changing the rotary movement of rearwheel to control the attitude of a vehicle was proposed. Based on the PWM method, we reconstructed a wireless remote control car to control the rotary movement of its rear-wheel by installing encoder, microcontroller and communicator. According to the equation of motion and equation of state which get from the dynamics analysis of the vehicle, the true attitude angle of the vehicle which in the experimental platform can be measured and controlled by the PD control method. Experimental results demonstrate that through rear-wheel torque manipulation, the vehicle is capable to reorient itself in mid-air and assume postures necessary for safe landing.
出处
《安徽工业大学学报（自然科学版）》
CAS
2015年第3期268-272,共5页
Journal of Anhui University of Technology（Natural Science）
基金
国家自然科学青年基金项目(51405001)
安徽省自然科学青年基金项目(1408085QE98)
关键词
仿生蜥蜴
车身姿态
后轮
尾巴
bionic lizard
vehicle attitude
rear-wheel
tail
