Design and Motion Control of an All Wheel Steering Mobile Chassis
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摘要: 为实现轮式移动机器人灵活运动的同时提升其环境适应能力，本文提出一种移动底盘结构，采用双功率差速系统实现不同模式动力的分配；采用特殊结构完成四轮独立转向，使底盘转向更加轻松，并实现了转向过程的纯滚动；采用平衡摇臂调整机构来调整底盘摆臂与本体的运动，利用摆臂转动来实现对起伏路面的自适应，加强了底盘的越障能力；分析了移动底盘原理，据此设计对应控制策略，在此基础上加入偏差耦合控制模块，提高多电机转向时的同步协调性能，利用MATLAB仿真验证了控制模块所起到的作用，并对实验样机及控制系统进行了搭建与测试。测试结果表明，本文所提出的结构原理正确可行，底盘越障能力较强，在野外环境也有很强的适应能力。Abstract: In order to achieve the flexible movement of wheeled mobile robot and improve its environmental adaptability, a new mobile chassis structure is proposed in this paper. The dual power differential system is used to accomplish power distribution under different modes. A special structure is used to complete the four-wheel independent steering, which makes the chassis steering easier and realizes the pure rolling in the steering process. The balance rocker arm adjusting mechanism is used to adjust the movement of the chassis swing arms and the body, and self-adaptive to the undulating road surface is realized with the rotation of swing arms, so as to enhance the ability of the chassis to surmount obstacles. The work principle of the mobile chassis is analyzed, and the corresponding control strategy is designed. On this basis, the deviation coupling control module is added to improve the synchronous coordination performance of multi motor steering. The effect of the control module is verified by MATLAB simulation, and the experimental prototype and control system are built and tested. The test results show that the mobile chassis structure principle proposed in this paper is correct and feasible, the chassis has strong obstacle crossing ability and strong adaptability in the field environment.
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Key words:
- mobile chassis structure /
- pure rolling /
- dual power /
- synchronous coordination /
- deviation coupling
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表 1 某一时刻3种运行模式对应角度实测
运行模式 摆腿内侧角度/（°） 摆腿外侧角度/（°） 4WS模式 19.96 13.78 蟹型模式 14.92 14.96 原地转向 56.84 56.88 
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