The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the...The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the robot with variable height while moving such as NOROS- Ⅱ. The existing method of dynamics modeling is improved by adding the constraint equation between perpendicular displacement of body and horizontal displacement of wheel into the constraint conditions. The dynamic model of NOROS- Ⅱ in wheel motion is built by the Lagrange method under nonholonomic constraints. The inverse dynamics is calculated in three different paths based on this model, and the results demonstrate that torques of hip pitching joints are inversely proportional to the height of robot. The relative error of calculated torques is less than 2% compared with that of ADAMS simulation, by which the validity of dynamic model is verified, Moreover, the relative horizontal motion between fore/hind wheels and body is produced when the height is changed, and thus the accurate slip ratio can not be obtained by the traditional equation. The improved slip ratio equations with the parameter of the vertical velocity of body are introduced for fore wheels and hind wheels respectively. Numerical simulations of slip ratios are conducted to reveal the effect of varied height on slip ratios of different wheels. The result shows that the slip ratios of fore/hind wheels become larger/smaller respectively as the height increases, and as the height is reduced, the reverse applies. The proposed research of dynamic model and slip ratio based on the robot height provides the effective method to analyze the dynamics of WMRs with varying height.展开更多
This paper presents the controller design for the path following of a spherical mobile robot, BHQ-1. Firstly, a desired velocity for the reference path is deduced from the kinematic model, which cannot be transformed ...This paper presents the controller design for the path following of a spherical mobile robot, BHQ-1. Firstly, a desired velocity for the reference path is deduced from the kinematic model, which cannot be transformed into the classic chained form. Secondly, a necessary torque for the desired velocity is obtained based on the dynamic model. As to the kinematics, a one-dimensional function is selected to measure the two-directional tracking error, and the velocity of rolling forward is reasonably assumed to be constant; therefore the multiple-input multiple-output （MIMO） system is transformed into a single-input single-output （SISO） system. As to the dynamics, both exact dynamics and inexact dynamics with modeling error as well as bounded unknown disturbance are taken into account, based on which a proportional-derivative （PD） controller and a sliding mode controller with adaptive parameters are proposed respectively. Finally, convergence analysis and simulation results are provided to validate these controllers.展开更多
For first-order nonlinear nonholonomic systems,the present paper proves that the d-δ operations are commutative and derives the equation of motion without making use of the addition al Appell-Chetaev condition.This e...For first-order nonlinear nonholonomic systems,the present paper proves that the d-δ operations are commutative and derives the equation of motion without making use of the addition al Appell-Chetaev condition.This equation of motion coincides with the equation of'Vacco dynam- ics'.展开更多
By the generalized variational principle of two kinds of variables in general me-chanics,it was demonstrated that two Lagrangian classical relationships can be applied to both holonomic systems and nonholonomic system...By the generalized variational principle of two kinds of variables in general me-chanics,it was demonstrated that two Lagrangian classical relationships can be applied to both holonomic systems and nonholonomic systems. And the restriction that two Lagrangian classical relationships cannot be applied to nonholonomic systems for a long time was overcome. Then,one important formula of similar La-grangian classical relationship called the popularized Lagrangian classical rela-tionship was derived. From Vakonomic model,by two Lagrangian classical rela-tionships and the popularized Lagrangian classical relationship,the result is the same with Chetaev's model,and thus Chetaev's model and Vakonomic model were unified. Simultaneously,the Lagrangian theoretical framework of dynamics of nonholonomic system was established. By some representative examples,it was validated that the Lagrangian theoretical framework of dynamics of nonholonomic systems is right.展开更多
In this paper, we first study the latent relation between the conservative quantity and the symmetry of nonholonomic dynamical systems without any additional restrictive conditions to its virtual displacement, and the...In this paper, we first study the latent relation between the conservative quantity and the symmetry of nonholonomic dynamical systems without any additional restrictive conditions to its virtual displacement, and then establish Noether's theorem and Noether's inverse theorem of Vacco dynamics. Lastly, we give two examples to illustrate the application of result of this paper.展开更多
Using the method of [1], the present paper derives the Lagrange equation without multipliers for another class of first-order nonholonomic dynamical systems by means of variational principle. This kind of equations is...Using the method of [1], the present paper derives the Lagrange equation without multipliers for another class of first-order nonholonomic dynamical systems by means of variational principle. This kind of equations is also new.展开更多
This paper deals with the theoretic simulation of a drill bit whirling under conditions of its contact interaction with the bore-hole bottom rock plane. The bit is considered to be an absolutely rigid ellipsoidal body...This paper deals with the theoretic simulation of a drill bit whirling under conditions of its contact interaction with the bore-hole bottom rock plane. The bit is considered to be an absolutely rigid ellipsoidal body with uneven surface. It is attached to the lower end of a rotating elastic drill string. In the perturbed state, the bit can roll without sliding on the bore-hole bottom, performing whirling vibrations (the model of dynamic equilibrium with pure rolling when maximum cohesive force does not exceed the ultimate Coulombic friction). To describe these motions, a nonholonomic dynamic model is proposed, constitutive partial differential equations are deduced. With their use, the whirling vibrations of oblong and oblate ellipsoidal bits are analyzed, the functions of cohesive (frictional) forces are calculated. It is shown that the system of elastic drill string and ellipsoidal bit can acquire stable or unstable whirl modes with approaching critical Eulerian values by the parameters of axial force, torque and angular velocity. The analogy of the found modes of motions with ones of the Celtic stones is established. It is shown that the ellipsoidal bits can stop their whirling vibrations and change directions of their circumferential motions in the same manner as the ellipsoidal Celtic stones do. As this takes place, the trajectories of the oblate ellipsoidal bits are characterized by more complicated paths and irregularities.展开更多
The Chetaev model and Vacco model in nonholonomic system are studied. The equivalence of the Chetaev model and Vacco model in ideal nonholonomic system and nonideal nonholonomic system realized actively is testified. ...The Chetaev model and Vacco model in nonholonomic system are studied. The equivalence of the Chetaev model and Vacco model in ideal nonholonomic system and nonideal nonholonomic system realized actively is testified. If nonholonomic constraint is nonideal, the Vacco model is usable from the aspect of mathematics. A general method is given that can be utilized to deal with the ideal nonholonomic system and nonideal nonholonomic system realized actively.展开更多
基金supported by National Outstanding Youth Science Foundation of China (Grant No. 51125020)National Hi-tech Research and Development Program of China (863 Program, Grant No. 2006AA04Z207)Program for New Century Excellent Talents in University, China
文摘The existing research on dynamics and slip ratio of wheeled mobile robot （WMR） are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the robot with variable height while moving such as NOROS- Ⅱ. The existing method of dynamics modeling is improved by adding the constraint equation between perpendicular displacement of body and horizontal displacement of wheel into the constraint conditions. The dynamic model of NOROS- Ⅱ in wheel motion is built by the Lagrange method under nonholonomic constraints. The inverse dynamics is calculated in three different paths based on this model, and the results demonstrate that torques of hip pitching joints are inversely proportional to the height of robot. The relative error of calculated torques is less than 2% compared with that of ADAMS simulation, by which the validity of dynamic model is verified, Moreover, the relative horizontal motion between fore/hind wheels and body is produced when the height is changed, and thus the accurate slip ratio can not be obtained by the traditional equation. The improved slip ratio equations with the parameter of the vertical velocity of body are introduced for fore wheels and hind wheels respectively. Numerical simulations of slip ratios are conducted to reveal the effect of varied height on slip ratios of different wheels. The result shows that the slip ratios of fore/hind wheels become larger/smaller respectively as the height increases, and as the height is reduced, the reverse applies. The proposed research of dynamic model and slip ratio based on the robot height provides the effective method to analyze the dynamics of WMRs with varying height.
基金National Natural Science Foundation of China(50705003)National High-tech Research and Development Program of China(2007AA04Z252)"Blue Star Program"of Beihang University
文摘This paper presents the controller design for the path following of a spherical mobile robot, BHQ-1. Firstly, a desired velocity for the reference path is deduced from the kinematic model, which cannot be transformed into the classic chained form. Secondly, a necessary torque for the desired velocity is obtained based on the dynamic model. As to the kinematics, a one-dimensional function is selected to measure the two-directional tracking error, and the velocity of rolling forward is reasonably assumed to be constant; therefore the multiple-input multiple-output （MIMO） system is transformed into a single-input single-output （SISO） system. As to the dynamics, both exact dynamics and inexact dynamics with modeling error as well as bounded unknown disturbance are taken into account, based on which a proportional-derivative （PD） controller and a sliding mode controller with adaptive parameters are proposed respectively. Finally, convergence analysis and simulation results are provided to validate these controllers.
基金Project supported by the Science-Technology Foundation for Universities.
文摘For first-order nonlinear nonholonomic systems,the present paper proves that the d-δ operations are commutative and derives the equation of motion without making use of the addition al Appell-Chetaev condition.This equation of motion coincides with the equation of'Vacco dynam- ics'.
基金Supported by the National Natural Science Foundation of China (Grant No. 10272034)the Research Fund for the Doctoral Program of Higher Education of Chinathe Basic Research Foundation of Harbin Engineering University (Grant No. 20060217020)
文摘By the generalized variational principle of two kinds of variables in general me-chanics,it was demonstrated that two Lagrangian classical relationships can be applied to both holonomic systems and nonholonomic systems. And the restriction that two Lagrangian classical relationships cannot be applied to nonholonomic systems for a long time was overcome. Then,one important formula of similar La-grangian classical relationship called the popularized Lagrangian classical rela-tionship was derived. From Vakonomic model,by two Lagrangian classical rela-tionships and the popularized Lagrangian classical relationship,the result is the same with Chetaev's model,and thus Chetaev's model and Vakonomic model were unified. Simultaneously,the Lagrangian theoretical framework of dynamics of nonholonomic system was established. By some representative examples,it was validated that the Lagrangian theoretical framework of dynamics of nonholonomic systems is right.
文摘In this paper, we first study the latent relation between the conservative quantity and the symmetry of nonholonomic dynamical systems without any additional restrictive conditions to its virtual displacement, and then establish Noether's theorem and Noether's inverse theorem of Vacco dynamics. Lastly, we give two examples to illustrate the application of result of this paper.
文摘Using the method of [1], the present paper derives the Lagrange equation without multipliers for another class of first-order nonholonomic dynamical systems by means of variational principle. This kind of equations is also new.
文摘This paper deals with the theoretic simulation of a drill bit whirling under conditions of its contact interaction with the bore-hole bottom rock plane. The bit is considered to be an absolutely rigid ellipsoidal body with uneven surface. It is attached to the lower end of a rotating elastic drill string. In the perturbed state, the bit can roll without sliding on the bore-hole bottom, performing whirling vibrations (the model of dynamic equilibrium with pure rolling when maximum cohesive force does not exceed the ultimate Coulombic friction). To describe these motions, a nonholonomic dynamic model is proposed, constitutive partial differential equations are deduced. With their use, the whirling vibrations of oblong and oblate ellipsoidal bits are analyzed, the functions of cohesive (frictional) forces are calculated. It is shown that the system of elastic drill string and ellipsoidal bit can acquire stable or unstable whirl modes with approaching critical Eulerian values by the parameters of axial force, torque and angular velocity. The analogy of the found modes of motions with ones of the Celtic stones is established. It is shown that the ellipsoidal bits can stop their whirling vibrations and change directions of their circumferential motions in the same manner as the ellipsoidal Celtic stones do. As this takes place, the trajectories of the oblate ellipsoidal bits are characterized by more complicated paths and irregularities.
文摘The Chetaev model and Vacco model in nonholonomic system are studied. The equivalence of the Chetaev model and Vacco model in ideal nonholonomic system and nonideal nonholonomic system realized actively is testified. If nonholonomic constraint is nonideal, the Vacco model is usable from the aspect of mathematics. A general method is given that can be utilized to deal with the ideal nonholonomic system and nonideal nonholonomic system realized actively.
