摘要
提出为直线运动的四轮驱动自动轨迹规划喷车增加转弯时曲线运动功能的方案,结合图解、建模、数理分析、MATLAB模拟仿真等手段展开深入研究。通过研究推导出了喷涂小车在直线段和弯曲段运动轨迹的控制方程,成功利用推导出的控制方程在MATLAB软件中对喷涂小车的轨迹进行编程模拟,验证了改进运动轨迹的可行性,为实施喷涂装置的改进提供了理论依据,获得一种从根本上解决转弯位置喷涂不到或不均匀问题的方法。
Study on four-wheel-driving automatic trajectory planning spraying device by means of drawing,establishing model,mathematics and physical analysis,MATLAB simulating is detailed based on an proposal that letting the spraying device walking in a line turns direction when there is a corner.With the research trajectory control equations for walking in line and turning at corners were deduced,spraying device waling trajectory was fulfilled by applying with MATLAB software based on the equations,the feasibility of improving waling trajectory was verified which can be theory basis for actual modification later,and a thoroughly settlement for no or inhomogeneous spraying is obtained.
出处
《石油化工设备》
CAS
2017年第5期18-24,共7页
Petro-Chemical Equipment
关键词
喷涂装置
运动轨迹
模拟仿真
四轮驱动
spraying device
walking trajectory
simulating
four-wheel drive
