| 基于操舵角的轮式拖车系统及其轨迹跟踪运动的研究 |
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| 引用本文： | 谭跃刚,刘明尧,左克群.基于操舵角的轮式拖车系统及其轨迹跟踪运动的研究[J].中国机械工程,2005,16(2):107-111. |
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| 作者姓名： | 谭跃刚 刘明尧 左克群 |
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| 作者单位： | 1. 武汉理工大学,武汉,430070;重庆市邮政自动化控制技术重点实验室,重庆,400065
2. 武汉理工大学,武汉,430070 |
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| 基金项目： | 国家 8 63高技术研究发展计划资助项目( 2 0 0 3AA412 0 3 0 -6)，重庆市邮政自动化控制技术重点实验室开放基金资助项目 ( 2 0 0 4-0 1) |
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| 摘 要： | 建立和分析了轮式拖车系统的运动学模型，给出了拖挂车的牵引操舵角定义。分析了基于牵引操舵角的轮式拖车系统的运动跟踪特性，提出了两种满足牵引操舵角概念的机构模型。分析表明，附有牵引操舵角的轮式拖车系统可转换为可控的链式系统，通过各拖挂车牵引操舵角的牵引作用可有效地确定轮式拖车系统在其位形空间中的位姿，这为提高轮式拖车系统的目标轨迹跟踪性能奠定了基础。
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| 关 键 词： | 拖车系统 操舵角 跟踪控制 牵引机构 移动机器人 |
| 文章编号： | 1004-132X(2005)02-0107-05 |
Research on Wheels Trailer System and Trajectory Tracking Motion Based on Steering Angle |
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| Tan Yuegang , Liu Mingyao Zuo Kequn . Wuhan University of Technology,Wuhan.Research on Wheels Trailer System and Trajectory Tracking Motion Based on Steering Angle[J].China Mechanical Engineering,2005,16(2):107-111. |
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| Authors: | Tan Yuegang Liu Mingyao Zuo Kequn Wuhan University of Technology Wuhan |
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| Affiliation: | Tan Yuegang 1,2 Liu Mingyao 1 Zuo Kequn 1 1. Wuhan University of Technology,Wuhan,430070 2. Key Lab of Postal Automation Control Technology of Chongqing,Chongqing,400065 |
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| Abstract: | On the basis of analysis of the kinematic model of wheel trailer system, the concept of steering angle was put forward. The motion tracking characteristics of steering angle based wheel trailer system were studied. Two mechanism models which satisfy the definition of the steering angle were present. The results indicate that can be changed into chained form system and the position and posture of wheel trailer system in the configuration space can be achieved effectively due to traction action of the steering angle. This lays the foundation of researches of goal trajectory tracking of the wheel trailer systems. |
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| Keywords: | trailer system steering angle track control traction machine mobile robot |
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