非道路车辆全向电动底盘四轮差速转向模型

提出的全向电动底盘可以实现四轮独立驱动和独立转向。在Akermann-Jeantand两轮转向模型的基础上,对全向电动底盘四轮差速转向数学模型进行了研究。建立了四轮差速转向过程中四个车轮之间的角度关系和速度关系,解决了全向电动底盘四轮差速控制过程中的关键问题。利用所建立的四轮差速转向数学模型可实现全向电动底盘的四轮差速转向控制。由四轮差速转向模型可以看出,四轮差速转向逆相控制模式可使转弯半径减小一半,这对于提高全向电动底盘的灵活性和操控性具有非常重要的意义。

Four Wheel Differential Steering Model for Omnidirectional Electric Chassis Applied in Off-road Vehicles

Omnidirectional electric chassis has such functions as four wheel independent driving and steering. In the ba-sis of Akermann-Jeantand's two wheel steering model,four wheel differential steeringmathematical model for omnidirec-tional electric chassis is studied. The relationships of angle and speed among the four wheels are established which solves the key issues in the process of differential steering control for four wheels. By use of the four wheel differential steering mathematical model, the differential steering control for four wheels of omnidirectional electric chassis can be realized.It is obviously that the four wheel differential and inverse phase steering mode can make the turning radius re-duce by half,which is very important to improve the flexibility and controllability of omnidirectional electric chassis.