北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (8): 1709-1714.doi: 10.13700/j.bh.1001-5965.2015.0519

• 论文 • 上一篇    下一篇

驾驶机器人机械腿动力学建模与仿真分析

刘坤明, 徐国艳, 余贵珍   

  1. 北京航空航天大学 交通科学与工程学院, 北京 100083
  • 收稿日期:2015-08-10 出版日期:2016-08-20 发布日期:2016-02-18
  • 通讯作者: 徐国艳,Tel.:15810771808,E-mail:xuguoyan@buaa.edu.cn E-mail:xuguoyan@buaa.edu.cn
  • 作者简介:刘坤明,男,硕士研究生。主要研究方向:智能车辆环境感知技术。Tel.:15210966824。E-mail:ldkccss@163.com;徐国艳,女,博士,副教授,硕士生导师。主要研究方向:智能车辆环境感知技术。Tel.:15810771808。E-mail:xuguoyan@buaa.edu.cn
  • 基金资助:
    国家自然科学基金(61371076,51105021)

Dynamic modeling and simulation analysis of robot driver's mechanical legs

LIU Kunming, XU Guoyan, YU Guizhen   

  1. School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2015-08-10 Online:2016-08-20 Published:2016-02-18

摘要: 为提高驾驶机器人的设计效率,对机器人的机械腿进行了动力学分析与建模,并建立了机器人驾驶车辆的联合仿真模型。机械腿动力学模型由机械结构和伺服电机两部分组成,其仿真模型由ADAMS和MATLAB/Simulink软件共同建立,在此基础上引入CarSim软件建立车辆模型,并以Simulink为平台建立了基于闭环速度控制的“驾驶机器人-车辆”联合仿真模型。仿真结果表明,驾驶机器人机械腿的动力学模型具有良好的动态响应特性,且所搭建的联合仿真模型能够完成基本的车速跟踪仿真实验,为下一步改进驾驶机器人的机械结构及控制策略提供了虚拟样机模型。

关键词: 驾驶机器人, 车辆, 联合仿真, 动力学模型, 虚拟样机

Abstract: In order to improve the design efficiency of the robot driver, the dynamic analysis and modeling of the robot's mechanical legs are carried out, and furthermore, a collaborative simulation platform of the robot and vehicle is built. The mechanical leg dynamic model is made up of mechanical structure and servo motor, and the simulation model was built by ADAMS and MATLAB/Simulink; then the vehicle model was built by CarSim while the electromechanical co-simulation model "robot driver-vehicle" was built based on the closed-loop speed control in Simulink. Simulation results show that the dynamic model of mechanical leg has good dynamic response; in addition, the electromechanical co-simulation model is able to complete the basic speed tracking simulation experiment so as to provide a virtual prototyping model to improve the mechanical structure and control strategy.

Key words: robot driver, vehicle, collaborative simulation, dynamic model, virtual prototype

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