CN103754259A - Kinematics based patrol unit gear train coordinating and controlling method - Google Patents

Abstract

The invention relates to a kinematics based patrol unit gear train coordinating and controlling method. A patrol unit gear train includes two front wheels, two back wheels and two middle wheels, wherein the front wheels and the back wheels are steering wheels, and the six wheels are on the same plane or not on the same plane. The patrol unit gear train coordinating and controlling method includes the steps of 1), respectively calculating steering angles of the front wheels and the back wheels of the patrol unit gear train, namely specifically calculating the speed and location of the patrol unit gear train to enable the speed and location of the patrol unit gear train to be perpendicular with each other so as to obtain the steering angles; calculating and coordinating the speed of the six wheels in the patrol unit gear train. By the application of the patrol unit gear train coordinating and controlling method, a patrol unit can also assuredly reserve coordination of gear train movement to the greatest extent under the condition of non-planar terrain, negative effects against coordination of the whole unit due to the fact that steering angles are too large in errors during the coordinating the steering angles of the steering wheels are effectively lowered; the coordinating and controlling method is applicable to various complicated terrain, good in walking performance and highly practical.

Description

A kind of based on kinematic tour device train control method for coordinating

Technical field

The present invention relates to one based on kinematic tour device train control method for coordinating, can be applied to the train that there is rocker arm suspension formula chassis structure and adopt wheel flutter to implement the roaming vehicle that turns to control and coordinate to control.

Background technology

The train coordination control task of making an inspection tour device requires, according to making an inspection tour device, expect linear velocity and expect rate of yaw, decompose and obtain each wheel flutter expectation corner and drive wheel expectation rotating speed, according to wheel flutter, when front hook provides wheel flutter, expect deflection angle speed simultaneously, realize drive wheel rotating speed and wheel flutter turning velocity and coordinate to control.

For making moving vehicle realize the coordinated movement of various economic factors when the transfer of advancing is curved, under ideal state, should make the relatively same motion of each wheel flutter axle center possess identical cireular frequency, and the sense of motion of each wheel flutter is all tangent with axis direction.

Situation when the train coordinated movement of various economic factors of conventional truck only needs to consider plane, by establishing the plane geometry relation of each wheel flutter and turning center, is calculated the corner of each wheel flutter is distributed by trigonometric function.

The deflection angle of general vehicle regulates, and the situation while only needing to consider plane is illustrated in figure 1 common four-wheel steering vehicle steering wheel angle and distributes schematic diagram.O in figure _bfor bodywork reference frame initial point, be also motion reference point, O _iCMfor instantaneous center of turn, the general available azimuth that turns to of both relations

with Turning radius R _sl in figure is described _s1and l _s2be respectively front-wheel and the trailing wheel fore-and-aft distance to motion reference point.

for each steering wheel angle, the control target that wheel flutter regulates is to make each direct of travel of taking turns and instantaneous center of turn direction tangent, respectively takes turns all along with O _iCMfor one group of concentrically ringed tangential direction motion in the center of circle.

But for making an inspection tour device, due to the existence of rocker structure, each wheel can't maintain at grade all the time, if carry out the corner of wheel flutter distributes according to rocker structure zero-bit state, while changing when the deformation everywhere of rocking arm corner, can not guarantee that now the sense of motion of wheel flutter is still tangent with steering direction, now wheel flutter will break away, make an inspection tour device in non-coordinated movement of various economic factors state, thereby bring uncertainty to the movement of making an inspection tour device.

Summary of the invention

The object of the invention is to overcome the above-mentioned deficiency of prior art, provide a kind of based on kinematic tour device train control method for coordinating, the method makes to make an inspection tour device under on-plane surface landform, still can guarantee to greatest extent the harmony of train motion, effectively reduce the discordant negative effect bringing to whole device because angular errors is excessive in steering wheel angle control process, and be suitable for various complex-terrains, there is good walking performance, practical.

Above-mentioned purpose of the present invention is mainly achieved by following technical solution:

A kind of based on kinematic tour device train control method for coordinating, this tour device train comprises wheel totally six wheels in two front-wheels, two trailing wheels and two, wherein two front-wheels and two trailing wheels are wheel flutter, described six wheels are in same plane or not in same plane, specific implementation step is as follows:

Step (one), calculate the deflection angle of making an inspection tour two front-wheels and two trailing wheels in device train respectively, concrete grammar is:

(1), set up and make an inspection tour device bodywork reference frame OXYZ, wherein making an inspection tour the direction that device car body advances is directions X, Y-direction and Z direction are the direction of any two vertical vector indications in the plane perpendicular to directions X, and meet right-hand rule, calculate in two front-wheels and two trailing wheels each wheel with respect to the speed of bodywork reference frame OXYZ

${\stackrel{\·}{p}}_{\mathrm{iv}}={\left[\begin{array}{ccc}{\stackrel{\·}{x}}_{\mathrm{iv}}& {\stackrel{\·}{y}}_{\mathrm{iv}}& {\stackrel{\·}{z}}_{\mathrm{iv}}\end{array}\right]}^T$

Wherein:

for

the component of directions X,

for

the component of Y-direction,

for

at the component of Z direction; I=1,2,5,6;

(2), calculate in two front-wheels and two trailing wheels each wheel with respect to the turning center O that makes an inspection tour device _iCMposition

$P_{C_i}={\left[\begin{array}{ccc}{x}_{C_i}& y_{C_i}& z_{C_i}\end{array}\right]}^T$

Wherein:

for

the component of directions X,

for

the component of Y-direction, for

at the component of Z direction; I=1,2,5,6;

(3), make speed

with position

orthogonal, meet following formula:

$x_{C_i}{\stackrel{\·}{x}}_{\mathrm{iv}}+y_{C_i}{\stackrel{\·}{y}}_{\mathrm{iv}}+z_{C_i}{\stackrel{\·}{z}}_{\mathrm{iv}}=0$

Solve the deflection angle that described formula obtains each wheel in two front-wheels and two trailing wheels i=1,2,5,6;

Step (two), solve the speed of making an inspection tour six wheels in device train

and by following formula to speed

regulate the speed v after adjusted _ix:

$v_{\mathrm{ix}}=K_e^2{\stackrel{\‾}{v}}_{\mathrm{ix}}$

Wherein:

$K_e=1-\frac{\max (0,\min (e_{{\mathrm{\δ}}_{\max }},e_{\max })-e_{\min })}{{\mathrm{\δ}}_e}$

δ _efor regulating with reference to angle;

it is hard-over deviation in two front-wheels and two trailing wheels; e _minfor the misalignment angle lower limit of setting; e _maxfor the misalignment angle upper limit of setting.

Above-mentioned based on kinematic tour device train control method for coordinating in, make an inspection tour device train and comprise modified roll mechanism, two master rockers and two secondary-rockers, wherein two master rockers are connected with tour device car body by modified roll mechanism, modified roll mechanism is fixedly connected on to be maked an inspection tour on device car body, make anglec of rotation equal and opposite in direction, the opposite direction of two of left and right master rocker with respect to modified roll mechanism, each master rocker connects respectively a front-wheel and a secondary-rocker, and each secondary-rocker connects respectively wheel and a trailing wheel in one;

In (1) two front-wheels of middle calculating of described step () and two trailing wheels, each wheel is with respect to the speed of bodywork reference frame OXYZ

concrete grammar as follows:

For two front-wheels, i=1,2; There is following formula:

Wherein: β _ibe β ₁, β ₂, be master rocker relative mistake actuation mechanism corner, and meet β ₁=-β ₂; for deflection angle;

For two trailing wheels, i=5,6; There is following formula:

Wherein:

?

be respectively

β ₁, β ₂for master rocker relative mistake actuation mechanism corner, ρ ₁, ρ ₂for the corner of the relative master rocker of secondary-rocker; .

In (2) two front-wheels of middle calculating of described step () and two trailing wheels, each wheel is with respect to the turning center O that makes an inspection tour device _iCMposition concrete grammar as follows:

For two front-wheels, i=1,2; There is following formula:

$\left[\begin{array}{c}{x}_{C_i}\\ y_{C_i}\\ z_{C_i}\end{array}\right]=\left[\begin{array}{c}{l}_{m2}\cos {\mathrm{\β}}_i+(d_{a1}+r)\sin {\mathrm{\β}}_i+l_x\\ {(-1)}^i{l}_{\mathrm{di}}-R_S\\ -l_{m2}\sin {\mathrm{\β}}_i+(d_{a1}+r)\cos {\mathrm{\β}}_i+l_z\end{array}\right]$

Wherein: d _a1for master rocker rotating shaft and front wheel spindle vertical distance, R _sfor making an inspection tour device car load turn radius, l _x, l _zfor modified roll mechanism center is at directions X and the Z direction coordinate maked an inspection tour under device bodywork reference frame, l _m2for front wheel spindle and master rocker rotating shaft horizontal throw, r is front-wheel radius;

For two trailing wheels, i=5,6; There is following formula:

Wherein: d _a3for secondary-rocker rotating shaft and hind axle vertical distance, l _m1for major-minor rocker shaft horizontal throw, l _r1for hind axle and secondary-rocker rotating shaft horizontal throw, d _rfor major-minor rocker shaft vertical distance, l _d3for front-wheel elevation profile and trailing wheel elevation profile horizontal throw, l _{d (i-4)}be l _d1, l _d2, represent the modified roll mechanism geometric centre distance to core wheel in the left and right sides;

In (3) of described step (), solve the deflection angle of each wheel in two front-wheels and two trailing wheels

concrete grammar as follows:

For two front-wheels, i=1,2; There is following formula:

For two trailing wheels, i=5,6; There is following formula:

Above-mentioned based on kinematic tour device train control method for coordinating in, in step (two), solve the speed of making an inspection tour six wheels in device train

concrete grammar as follows:

Wherein: v _xfor making an inspection tour device desired speed, ω _zfor making an inspection tour device, expect cireular frequency, both meet following formula:

v _x=ω _zR _S

I=1,2,3,4,5,6 o'clock respectively corresponding the near front wheel, off front wheel, left center, rightly take turns, left rear wheel, off hind wheel.

The present invention compared with prior art has following beneficial effect:

(1), on the steering wheel angle mentality of designing basis of the present invention when conventional truck turns to, by the corner to each wheel flutter, regulate, rotation direction and the translation direction of wheel flutter are reached unanimity in three dimensional space, thereby under on-plane surface landform, still can guarantee to greatest extent the harmony of train motion.

(2), the present invention by drive wheel being carried out to dynamic reduction of speed processing, can effectively reduce the discordant negative effect bringing to whole device because angular errors is excessive in steering wheel angle control process in steering wheel angle control process.

(3), control method for coordinating of the present invention is equally applicable to have the deformable chassis structures such as similar rocker arm suspension formula and adopts wheel flutter to implement to turn to the roaming vehicle of control or the train of wheeled mobile robot to coordinate to control, there is wider field of application, and be suitable for various complex-terrains, there is good walking performance, practical.

Accompanying drawing explanation

Fig. 1 is that common four-wheel steering vehicle steering wheel angle distributes schematic diagram;

Fig. 2 is that the present invention makes an inspection tour device wheel train structure schematic diagram;

Fig. 3 is that the present invention makes an inspection tour device train geometrical structure parameter schematic diagram.

The specific embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:

Making an inspection tour utensil has the rocker arm suspension formula chassis structure of four-wheel steering, six wheel drive, can passive adaptation physical relief landform, therefore belong to the wheeled mobile robot with nonholonomic constraint.The present invention makes an inspection tour device train and comprises six wheels: wheel in two front-wheels, two trailing wheels and two, wherein two front-wheels and two trailing wheels have steering capability, and six wheels are in same plane or not in same plane.

If make an inspection tour in device motion process and can not guarantee that each wheel flutter is coplanar, if respectively take turns not when same plane, must Consideration of Three-dimensional spatial relationship be adjusted by steering wheel angle accordingly, make the projection of each ideal movements track of taking turns on horizontal surface in one group of concentric circles or make each ideal movements track of taking turns on one group of concentric spherical, the control target that now wheel flutter regulates can be described as, and makes the each turning center O of equal edge with tour device that take turns _iCMfor the tangential direction motion of one group of homocentric sphere of the centre of sphere.

Ideally, for realizing the train coordinated movement of various economic factors, first regulating rotary is controlled drive wheel motion arrive the coordinated movement of various economic factors steering angle of expecting to wheel after again, that is, make an inspection tour the first original place of device and adjust steering wheel angle, then complete the action of advancing.But in the actual motion of tour device, the desired turn radius of making an inspection tour device is discontinuous often, this expectation corner that just means wheel flutter there will be saltus step, and for identical desired turn radius, because rocker structure deformation everywhere changes, now the expectation corner of wheel flutter also must be adjusted in real time, this just means, in actual motion, wheel flutter always can not maintain and expect on steering angle, if each wheel flutter is measured corner and is expected that corner exists deviation all to stop and adjusts wheel flutter angle, the inevitable serious mobile efficiency of making an inspection tour device that reduces, Project Realization, be also unpractical.This just requires to make an inspection tour device and must in moving process, dynamically to steering wheel angle, regulate.And make an inspection tour device in fact under non-coordinated movement of various economic factors state while there is deviation due to steering wheel angle, for improving, drive and divertical motion harmony, reduce the inconsistency of each drive wheel slip rate, reduce the lateral sliding in steering procedure, in the process of adjusting steering wheel angle, should, according to the corner deviation of wheel flutter, to drive wheel, expect that rotating speed carries out dynamic adjustments, to reduce the incoordination of motion simultaneously.

The present invention is based on kinematic tour device train control method for coordinating specifically comprises the steps:

Step (one), calculate the deflection angle of making an inspection tour two front-wheels and two trailing wheels in device train respectively, concrete grammar is:

(1), model is maked an inspection tour device bodywork reference frame OXYZ, wherein making an inspection tour device hull bottom plate center is center of circle O, the direction that tour device car body advances is directions X, Y-direction and Z direction are the direction of any two vertical vector indications in the plane perpendicular to directions X, and meet right-hand rule, calculate in two front-wheels and two trailing wheels each wheel with respect to the speed of bodywork reference frame OXYZ

${\stackrel{\·}{p}}_{\mathrm{iv}}={\left[\begin{array}{ccc}{\stackrel{\·}{x}}_{\mathrm{iv}}& {\stackrel{\·}{y}}_{\mathrm{iv}}& {\stackrel{\·}{z}}_{\mathrm{iv}}\end{array}\right]}^T$

Wherein: for

the component of directions X,

for

the component of Y-direction,

for

at the component of Z direction; I=1,2,5,6;

(2), calculate in two front-wheels and two trailing wheels each wheel with respect to the turning center O that makes an inspection tour device _iCMposition

$p_{C_i}={\left[\begin{array}{ccc}{x}_{C_i}& y_{C_i}& z_{C_i}\end{array}\right]}^T$

Wherein:

for

the component of directions X,

for

the component of Y-direction,

for

at the component of Z direction; I=1,2,5,6;

(3), make speed

with position orthogonal, meet following formula:

$x_{C_i}{\stackrel{\·}{x}}_{\mathrm{iv}}+y_{C_i}{\stackrel{\·}{y}}_{\mathrm{iv}}+z_{C_i}{\stackrel{\·}{z}}_{\mathrm{iv}}=0$

Solve the deflection angle that this formula obtains each wheel in two front-wheels and two trailing wheels

i=1,2,5,6;

Step (two), the kinematical equation based between car body and train, solve the speed of making an inspection tour six wheels in device train according to the whole device kinematic velocity of expecting and cireular frequency

Step (three), to speed

regulate the speed v after adjusted _ix, concrete grammar is as follows:

Make an inspection tour in device motion process, when steering wheel angle exists deviation with expectation corner, for reducing this impact of non-coordinated movement of various economic factors state on kinematic accuracy, need dynamically to drive wheel speed, regulate.Fundamental principle is, when steering wheel angle is larger apart from expectation corner deviation, reduces drive wheel and expect rotating speed; When steering wheel angle approaches expectation corner, increase drive wheel and expect rotating speed.That is, when steering wheel angle deviation is larger, drive wheel is not carried out to full speed and control, according to the corner deviation of wheel flutter, drive wheel is applied to reduction of speed processing.

Design driven wheel speed regulation strategy is: when wheel flutter hard-over deviation

be greater than misalignment angle upper limit e _maxtime, the actual speed control command of drive wheel remains on a constant low speed, when wheel flutter hard-over deviation

be less than misalignment angle lower limit e _mintime, drive wheel is pressed desired speed motion at full speed.When wheel flutter hard-over deviation is between bound, the working control speed v of drive wheel _ixwith expectation wheel speed

meet following relation:

$v_{\mathrm{ix}}=K_e^2{\stackrel{\‾}{v}}_{\mathrm{ix}}$

Wherein:

$K_e=1-\frac{e_{{\mathrm{\δ}}_{\max }}-e_{\min }}{{\mathrm{\δ}}_e}$

Above-mentioned strategy can Unified Expression be, the working control speed v of drive wheel _ixwith expectation wheel speed

meet following relation:

$v_{\mathrm{ix}}=K_e^2{\stackrel{\‾}{v}}_{\mathrm{ix}}$

Wherein

$K_e=1-\frac{\max (0,\min (e_{{\mathrm{\δ}}_{\max }},e_{\max })-e_{\min })}{{\mathrm{\δ}}_e}$

Wherein: δ _efor regulating with reference to angle, generally should be slightly larger than the misalignment angle upper limit of setting;

it is hard-over deviation in two front-wheels and two trailing wheels; e _minfor the misalignment angle lower limit of setting; e _maxfor the misalignment angle upper limit of setting.

Be illustrated in figure 2 the present invention and make an inspection tour device wheel train structure schematic diagram, the invention provides a kind of device wheel train structure of making an inspection tour, comprise modified roll mechanism, two master rockers and two secondary-rockers, wherein two master rockers are connected with tour device car body by modified roll mechanism, modified roll mechanism is fixed on car body, it act as and makes anglec of rotation equal and opposite in direction, the opposite direction of two of left and right master rocker with respect to modified roll mechanism, each master rocker connects respectively a front-wheel and a secondary-rocker, and each secondary-rocker connects respectively wheel and a trailing wheel in one.In Fig. 2, provided the diagram of tour device train one side (being divided into the left and right sides), comprise a master rocker, secondary-rocker, front-wheel, the structure of wheel and a trailing wheel in, opposite side structure full symmetric, relevant geometrical structure parameter defines as shown in Figure 3.

Set up and make an inspection tour device bodywork reference frame OXYZ, the base plate center of wherein making an inspection tour device car body is center of circle O, the direction that on base plate plane, sensing tour device car body advances is directions X, on base plate plane, perpendicular to the direction on directions X sensing tour device right side, be Y-direction, Z direction meets right-hand rule perpendicular to base plate plane and with X, Y-direction, steering wheel angle definition is turned right as just, turns left for negative.

For two front-wheels, i=1,2; There is following formula:

$\left[\begin{array}{c}{x}_{C_i}\\ y_{C_i}\\ z_{C_i}\end{array}\right]=\left[\begin{array}{c}{l}_{m2}\cos {\mathrm{\β}}_i+(d_{a1}+r)\sin {\mathrm{\β}}_i+l_x\\ {(-1)}^i{l}_{\mathrm{di}}-R_S\\ -l_{m2}\sin {\mathrm{\β}}_i+(d_{a1}+r)\cos {\mathrm{\β}}_i+l_z\end{array}\right]$

By $x_{C_i}{\stackrel{\·}{x}}_{\mathrm{iv}}+y_{C_i}{\stackrel{\·}{y}}_{\mathrm{iv}}+z_{C_i}{\stackrel{\·}{z}}_{\mathrm{iv}}=0$ Can obtain:

Wherein: β _ibe β ₁, β ₂for master rocker relative mistake actuation mechanism corner, and meet β ₁=-β ₂;

for deflection angle; d _a1for master rocker rotating shaft and front wheel spindle vertical distance, R _sfor making an inspection tour device car load turn radius, l _x, l _zfor modified roll mechanism center is at directions X and the Z direction coordinate maked an inspection tour under device bodywork reference frame, l _m2for front wheel spindle and master rocker rotating shaft horizontal throw, r is front-wheel radius.

For two trailing wheels, i=5,6; There is following formula:

Wherein:

?

be respectively

β ₁, β ₂for master rocker relative mistake actuation mechanism corner, ρ ₁, ρ ₂for the corner of the relative master rocker of secondary-rocker.

D _a3for secondary-rocker rotating shaft and hind axle vertical distance, l _m1for major-minor rocker shaft horizontal throw, l _r1for hind axle and secondary-rocker rotating shaft horizontal throw, d _rfor major-minor rocker shaft vertical distance, l _d3for front-wheel elevation profile and trailing wheel elevation profile horizontal throw, l _{d (i-4)}be l _d1, l _d2, represent the modified roll mechanism geometric centre distance to core wheel in the left and right sides.

By $x_{C_i}{\stackrel{\·}{x}}_{\mathrm{iv}}+y_{C_i}{\stackrel{\·}{y}}_{\mathrm{iv}}+z_{C_i}{\stackrel{\·}{z}}_{\mathrm{iv}}=0$ Can obtain:

For what describe in the present embodiment, six take turns rocker arm suspension formula chassis structure, through kinematics solution, can obtain making an inspection tour the speed of six wheels in device train

for:

Wherein: v _xfor making an inspection tour device desired speed, ω _zfor making an inspection tour device, expect cireular frequency, both meet:

v _x=ω _zR _S

I=1,2,3,4,5,6 o'clock respectively corresponding the near front wheel, off front wheel, left center, rightly take turns, left rear wheel, off hind wheel.

In the present embodiment, when drive wheel rotating speed is carried out to dynamic adjustments, get e _maxbe 15 degree, e _minbe 2 degree, δ _ebe 20 degree, that is:

When wheel flutter hard-over deviation

while being greater than 15 °, the actual speed control command of drive wheel is down to 12.25% of desired speed, when wheel flutter hard-over deviation

while being less than 2 °, drive wheel is pressed desired speed motion at full speed.When wheel flutter hard-over deviation in the time of between 2 ° and 15 °, the working control speed of drive wheel meets following relation with expectation wheel speed:

$v_{\mathrm{ix}}=K_e^2{\stackrel{\‾}{v}}_{\mathrm{ix}}$

Wherein:

The inventive method is equally applicable to have the deformable chassis structures such as similar rocker arm suspension formula and adopts wheel flutter to implement to turn to the roaming vehicle of control or the train of wheeled mobile robot to coordinate to control.

The above; be only the specific embodiment of the best of the present invention, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.

The content not being described in detail in specification sheets of the present invention belongs to professional and technical personnel in the field's known technology.

Claims (3)

1. one kind based on kinematic tour device train control method for coordinating, it is characterized in that: described tour device train comprises wheel totally six wheels in two front-wheels, two trailing wheels and two, wherein two front-wheels and two trailing wheels are wheel flutter, described six wheels are in same plane or not in same plane, specific implementation step is as follows:

Step (one), calculate the deflection angle of making an inspection tour two front-wheels and two trailing wheels in device train respectively, concrete grammar is:

(1), set up and make an inspection tour device bodywork reference frame OXYZ, wherein making an inspection tour the direction that device car body advances is directions X, Y-direction and Z direction are the direction of any two vertical vector indications in the plane perpendicular to directions X, and meet right-hand rule, calculate in two front-wheels and two trailing wheels each wheel with respect to the speed of bodywork reference frame OXYZ

${\stackrel{\·}{p}}_{\mathrm{iv}}={\left[\begin{array}{ccc}{\stackrel{\·}{x}}_{\mathrm{iv}}& {\stackrel{\·}{y}}_{\mathrm{iv}}& {\stackrel{\·}{z}}_{\mathrm{iv}}\end{array}\right]}^T$

Wherein:

for

the component of directions X,

for the component of Y-direction,

for

at the component of Z direction; I=1,2,5,6;

(2), calculate in two front-wheels and two trailing wheels each wheel with respect to the turning center O that makes an inspection tour device _iCMposition p _ci:

$p_{C_i}={\left[\begin{array}{ccc}{x}_{C_i}& y_{C_i}& z_{C_i}\end{array}\right]}^T$

Wherein:

for

the component of directions X,

for

the component of Y-direction,

for

at the component of Z direction; I=1,2,5,6;

(3), make speed

with position

orthogonal, meet following formula:

$x_{C_i}{\stackrel{\·}{x}}_{\mathrm{iv}}+y_{C_i}{\stackrel{\·}{y}}_{\mathrm{iv}}+z_{C_i}{\stackrel{\·}{z}}_{\mathrm{iv}}=0$

Solve the deflection angle that described formula obtains each wheel in two front-wheels and two trailing wheels

i=1,2,5,6;

Step (two), solve the speed of making an inspection tour six wheels in device train

and by following formula to speed

regulate the speed v after adjusted _ix:

$v_{\mathrm{ix}}=K_e^2{\stackrel{\‾}{v}}_{\mathrm{ix}}$

Wherein:

$K_e=1-\frac{\max (0,\min (e_{{\mathrm{\δ}}_{\max }},e_{\max })-e_{\min })}{{\mathrm{\δ}}_e}$

δ _efor regulating with reference to angle;

it is hard-over deviation in two front-wheels and two trailing wheels; e _minfor the misalignment angle lower limit of setting; e _maxfor the misalignment angle upper limit of setting.

2. one according to claim 1 is based on kinematic tour device train control method for coordinating, it is characterized in that: described tour device train comprises modified roll mechanism, two master rockers and two secondary-rockers, wherein two master rockers are connected with tour device car body by modified roll mechanism, modified roll mechanism is fixedly connected on to be maked an inspection tour on device car body, make anglec of rotation equal and opposite in direction, the opposite direction of two of left and right master rocker with respect to modified roll mechanism, each master rocker connects respectively a front-wheel and a secondary-rocker, and each secondary-rocker connects respectively wheel and a trailing wheel in one;

In (1) two front-wheels of middle calculating of described step () and two trailing wheels, each wheel is with respect to the speed of bodywork reference frame OXYZ

concrete grammar as follows:

For two front-wheels, i=1,2; There is following formula:

Wherein: β _ibe β ₁, β ₂, be master rocker relative mistake actuation mechanism corner, and meet β ₁=-β ₂;

for deflection angle;

For two trailing wheels, i=5,6; There is following formula:

Wherein:

? be respectively

β ₁, β ₂for master rocker relative mistake actuation mechanism corner, ρ ₁, ρ ₂for the corner of the relative master rocker of secondary-rocker; .

In (2) two front-wheels of middle calculating of described step () and two trailing wheels, each wheel is with respect to the turning center O that makes an inspection tour device _iCMposition

concrete grammar as follows:

For two front-wheels, i=1,2; There is following formula:

$\left[\begin{array}{c}{x}_{C_i}\\ y_{C_i}\\ z_{C_i}\end{array}\right]=\left[\begin{array}{c}{l}_{m2}\cos {\mathrm{\β}}_i+(d_{a1}+r)\sin {\mathrm{\β}}_i+l_x\\ {(-1)}^i{l}_{\mathrm{di}}-R_S\\ -l_{m2}\sin {\mathrm{\β}}_i+(d_{a1}+r)\cos {\mathrm{\β}}_i+l_z\end{array}\right]$

Wherein: d _a1for master rocker rotating shaft and front wheel spindle vertical distance, R _sfor making an inspection tour device car load turn radius, l _x, l _zfor modified roll mechanism center is at directions X and the Z direction coordinate maked an inspection tour under device bodywork reference frame, l _m2for front wheel spindle and master rocker rotating shaft horizontal throw, r is front-wheel radius;

For two trailing wheels, i=5,6; There is following formula:

Wherein: d _a3for secondary-rocker rotating shaft and hind axle vertical distance, l _m1for major-minor rocker shaft horizontal throw, l _r1for hind axle and secondary-rocker rotating shaft horizontal throw, d _rfor major-minor rocker shaft vertical distance, l _d3for front-wheel elevation profile and trailing wheel elevation profile horizontal throw, l _{d (i-4)}be l _d1, l _d2, represent the modified roll mechanism geometric centre distance to core wheel in the left and right sides;

In (3) of described step (), solve the deflection angle of each wheel in two front-wheels and two trailing wheels

concrete grammar as follows:

For two front-wheels, i=1,2; There is following formula:

For two trailing wheels, i=5,6; There is following formula:

3. one according to claim 2, based on kinematic tour device train control method for coordinating, is characterized in that: in described step (two), solve the speed of making an inspection tour six wheels in device train

concrete grammar as follows:

Wherein: v _xfor making an inspection tour device desired speed, ω _zfor making an inspection tour device, expect cireular frequency, both meet following formula:

v _x=ω _zR _S

I=1,2,3,4,5,6 o'clock respectively corresponding the near front wheel, off front wheel, left center, rightly take turns, left rear wheel, off hind wheel.

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