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

摘要： 基于连续切换轮的四轮驱动移动机器人由于其结构的特殊性,运动时四轮相互挤压,单轮输出力矩波动大,导致出现电机连接件机械磨损加剧、能耗增加等现象。针对此类问题,根据轮子与车体的运动学和动力学关系,提出同时控制车体速度与单轮输出力矩的双闭环控制方法。理论分析及实验对比表明,采用该控制方法,移动机器人沿八个特定方向做直线运动时,单轮输出力矩波动小,车体能量利用率及稳定性均有不同程度的提高。

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