关键词: 直线运动, 力矩分配, 优化控制, 移动机器人, 双闭环控制方法

Abstract: Due to the special structure of single row alternate wheels,the mutual extrusion occured between the four wheels,which caused the phenomenon of mechanical wear intensification,single wheel output torque fluctuation and energy consumption increscent.According to the kinematic and dynamic relations between wheels and vehicle body,the double closed loop control method was presented.The comparisons of theoretical analysis and experiments showed that the energy utilization and stability of vehicle body were improved in eight specific directions by using the proposed method.

Key words: linear motion, torque distribution, optimal control, mobile robot, double closed loop control method