CN111232051B - Steering control method for wheeled mobile robot - Google Patents

Steering control method for wheeled mobile robot Download PDF

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Publication number
CN111232051B
CN111232051B CN202010115952.3A CN202010115952A CN111232051B CN 111232051 B CN111232051 B CN 111232051B CN 202010115952 A CN202010115952 A CN 202010115952A CN 111232051 B CN111232051 B CN 111232051B
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China
Prior art keywords
steering
mobile robot
speed
robot
clutch
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CN202010115952.3A
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Chinese (zh)
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CN111232051A (en
Inventor
陈南
曹铭聪
李哲
王金湘
鲁秀楠
张伦
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Southeast University
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Southeast University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0418—Electric motor acting on road wheel carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

The invention discloses a steering control method of a wheeled mobile robot, belonging to the technical field of automatic control of robots, and based on a four-wheel independent drive wheeled mobile robot platform, the invention realizes different steering modes of the wheeled mobile robot under different working conditions of low speed and high speed, under the working conditions of pivot steering or low speed, a clutch is combined to lock a steering pull rod so as to ensure that no steering angle is generated on the wheels of the robot, and the sliding steering of the robot is realized by controlling the different rotating speeds of the left wheel and the right wheel; under the high-speed working condition, the clutch is separated to ensure that the steering pull rod can move left and right, and the wheels are forced to rotate to the side with small driving moment by controlling the difference of the driving moment of the left wheel and the driving moment of the right wheel, so that the differential steering operation of the mobile robot is realized. The invention can realize the optimal steering performance of the wheeled mobile robot under different speed working conditions, avoids the steering instability of the sliding steering under the high-speed working condition, and can combine the advantages of low-speed sliding steering and high-speed differential steering.

Description

Steering control method for wheeled mobile robot
Technical Field
The invention relates to the field of automatic control of robots, in particular to a steering control method of a wheeled mobile robot.
Background
The sliding steering mechanism is the most common steering control method applied to various wheeled mobile robots. The sliding steering mobile robot can eliminate a special steering mechanism, so the structure is simple and the space utilization rate can be improved. The wheels on the two sides of the wheel type mobile robot can be driven independently, and the steering of the wheel type mobile robot with different steering radiuses can be realized by controlling different rotating speeds of the left wheel and the right wheel. When the rotating speeds of the wheels on the left side and the right side are equal and the directions are opposite, the pivot steering of the robot can be even realized. Therefore, the sliding steering mode has better steering maneuverability under the low-speed working condition, and can be better applied in the environment with limited steering space.
However, the sliding steering mode needs the mobile robot to provide a large longitudinal driving force difference to overcome high resistance moment caused by steering, so that the problem of high-speed instability of the sliding steering is caused. Under a high-speed working condition, the wheeled mobile robot cannot provide enough driving torque, so that the mobile robot in the slip steering mode needs to be decelerated firstly at a high speed so as to provide enough driving torque for steering. At the same time, the higher drive torque also brings about the problem of high energy consumption.
If a steering ladder mechanism is respectively arranged between the left and right wheels of the front axle and the rear axle of the robot, and each wheel can rotate around a main pin of the wheel. In the wheel-type mobile robot driven by the wheel driving motor, when the driving forces of the left and right wheels are different, the generated differential torque can drive the wheels to rotate around the main pin to the side with smaller driving force. This type of steering is known as differential steering. Through differential steering, the wheeled mobile robot can realize high-speed steering without sacrificing the speed to meet the requirement of steering stability. However, this steering method does not allow pivot steering operation and has significant limitations in lower speed steering.
In summary, in order to meet the requirement of the steering performance of the wheeled mobile robot under different speed working conditions, various problems under different speed working conditions cannot be solved by one steering mode alone. Therefore, it has important practical significance to research how to enable the wheeled mobile robot to keep good steering performance at different speeds.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the defect of steering performance of the wheeled mobile robot under different speed conditions, the invention provides a novel steering control strategy of the wheeled mobile robot, which can combine the steering performance advantages of different steering modes under different speed working conditions.
The invention adopts the following technical scheme:
(1) when the mobile robot turns on site, the controller controls the driver to drive the clutch, and the steering pull rod is locked. At the moment, the wheels cannot rotate around the main pin, so that a steering angle is generated, and the mobile robot can only realize steering operation by means of sliding steering. The motor controller controls the driving force of the wheel driving motors on the two sides to be equal in magnitude and opposite in direction, and the mobile robot can steer in situ.
(2) When the mobile robot needs to turn during the movement process, the controller judges which turning mode is selected by the wheeled mobile robot according to the current vehicle speed, the driving torque difference of the turning requirement, the ground adhesion condition and the like.
(3) When the mobile robot moves under a low-speed working condition, the left and right wheel driving motors can provide enough driving force difference to drive the mobile robot to slide and steer, and the power limit of the motors cannot be exceeded. At this time, the controller controls the starter to drive the clutch, and locks the steering rod. The motor controller controls the wheels at two sides to drive the motors to drive different driving forces, and a driving torque difference is generated to drive the mobile robot to slide and steer. The larger the drive torque difference, the smaller the turning radius.
(4) When the mobile robot moves under a high-speed working condition, the left and right wheel driving motors are not enough to provide enough driving force difference to drive the mobile robot to slide and steer due to the maximum power limit of the motors. At this time, the controller determines that switching to the differential steering is necessary, and the controller controls the actuator to disengage the clutch. The motor controller controls the wheel driving motors on the two sides to generate driving force difference to drive the wheels to rotate around the main pins respectively, so that a steering angle is generated. The greater the difference in drive torque, the greater the steering angle produced.
(5) In high-speed differential steering, because the aligning torque of the wheels is small, a large steering angle can be generated by a small driving force difference, and therefore the driving torque difference of the driving motors of the wheels on two sides can not necessarily generate a desired steering angle. The degree of clutch compression may be adjusted by a controller to control the amount of friction between the tie rod and the clutch. This friction force may generate a friction torque in the opposite direction of the differential torque, which may be used to adjust the steering angle generated. Depending on the desired steering angle, the degree of clutch compression is controlled to produce the desired turning radius.
(6) There is a critical speed between the low speed and high speed operating conditions. When the speed is higher than the critical speed, the mobile robot performs differential steering under a high-speed working condition; otherwise, the mobile robot performs sliding steering under a low-speed working condition. The critical speed can be determined according to information such as the maximum power of the wheel driving motor and the road adhesion condition.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention combines various advantages of two modes of sliding steering and differential steering, and can switch between the sliding steering mode and the differential steering mode: when the wheel type mobile robot is steered in a pivot mode and a low speed mode, the steering maneuverability of the wheel type mobile robot can be improved through sliding steering, and the turning radius is reduced; when the steering is carried out at a high speed, the problem of unstable steering caused by limited driving torque in the sliding steering can be solved through differential steering, the condition that the steering is carried out after the deceleration is carried out like a sliding steering mobile robot is not needed, and meanwhile, the energy consumption can be reduced.
(2) The compression degree of the clutch can be automatically adjusted, and the generated friction torque is used for adjusting the size of the steering angle generated under the working condition of high-speed differential steering, so that the expected steering angle is obtained to adapt to the steering requirement of the mobile robot at different speeds.
(3) The invention improves the adaptability of the wheel type mobile robot to the speed, and ensures that the robot can achieve better steering performance under different speed working conditions.
Drawings
Fig. 1 is a schematic structural view of a wheeled mobile robot with skid steering and differential steering.
Fig. 2 is a flow chart of the proposed steering strategy.
FIG. 3 is a schematic illustration of the slip steering operating drive force distribution during a pivot steering condition.
Fig. 4 is a schematic diagram of the slip steering operation driving force distribution in the low speed condition.
Fig. 5 is a schematic diagram of the driving force distribution in the differential steering operation in the high speed condition.
List of reference numerals:
1-wheel drive motor, 2-clutch, 3-track rod, 4-trapezoidal arm
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In order to realize the optimal steering performance of the wheeled mobile robot under different working conditions, improve the steering flexibility during pivot steering and low-speed steering and keep the steering stability during high-speed steering, the invention provides a steering strategy of the wheeled mobile robot combining the advantages of sliding steering and differential steering, and solves the problem of steering instability caused by the fact that the sliding steering cannot provide enough driving torque difference during high-speed steering. A wheel-type mobile robot driven by wheel driving motors combining skid steering and differential steering is shown in fig. 1. The flow chart of the steering strategy proposed by the invention is shown in fig. 2, and the critical speed for destabilizing the sliding steering mode is obtained according to the current speed of the mobile robot, the maximum power of the wheel driving motor and the road surface condition information. When the speed of the robot is lower than the critical speed, the left wheel driving motor and the right wheel driving motor can provide enough driving force difference to drive the robot to realize the slip steering. Skid steering has the advantage of flexibility and high efficiency, can realize pivot steering, and has the advantage in the environment that the space of turning to is restricted. When the speed of the robot is higher than the critical speed, the left wheel driving motor and the right wheel driving motor cannot provide enough driving force difference to drive the sliding steering of the robot due to the maximum power limitation of the motors, and at the moment, the differential steering intervenes to enable the wheels of the robot to rotate by a certain angle, so that the normal steering of the robot is realized.
As shown in fig. 3, in the pivot steering condition, the controller controls the clutch to lock the tie rods, the tie rods are in a symmetrical position and cannot move, and the wheels are parallel to the longitudinal axis (i.e. the x axis in the figure) of the mobile robot and cannot rotate around respective main pins. FxijIndicating the longitudinal driving force of the wheels of the mobile robot, FyijThe lateral force of the wheels of the mobile robot is shown, wherein the subscript i is f, r is respectively shown as front and rear wheels, the subscript j is l, and r is respectively shown as left and right wheels. When the driving forces of the left wheel and the right wheel are equal in magnitude and opposite in direction, the mobile robot realizes pivot steering. The steering wheel is in a counterclockwise steering working condition, the steering radius is zero, and the steering wheel has obvious advantages in an environment with limited steering spaceAnd (4) potential.
As shown in fig. 4, which is a schematic view of the skid steer under a low speed condition, the left and right wheel driving motors under the low speed condition can provide enough driving force difference to realize the skid steer. Similar to pivot steering, the controller controls the clutch to lock the tie rods, which are symmetrically positioned and cannot move, when the wheels are parallel to the longitudinal axis of the mobile robot (i.e., the x-axis in the figure) and cannot rotate around the respective kingpins. The steering with different steering radiuses can be realized by changing the driving force difference of the left wheel and the right wheel.
FIG. 5 is a schematic view of differential steering in a high speed condition. Due to the motor power limitation, the left and right wheel drive motors cannot provide a sufficient driving force difference to achieve a skid steer operation. At the moment, the controller controls the clutch to be separated, the steering pull rod can move left and right, and the driving torque difference enables the wheels to rotate around the main pins of the wheels by a certain steering angle, so that the differential steering of the wheeled mobile robot is realized. In the diagram deltafAnd deltarRespectively, the differential steering angles due to the differential torque effect. When the steering pull rod can move left and right, the mobile robot can steer to the side with small driving force under the action of differential moment. Meanwhile, the degree of engagement of the clutch is adjusted to control the magnitude of the frictional force between the clutch and the tie rod, thereby obtaining a desired magnitude of the steering angle.
The invention can effectively combine the advantages of sliding steering and differential steering, ensures the flexibility and high efficiency of the wheeled mobile robot during low-speed steering, can realize pivot steering, and reserves the advantage of steering of the sliding steering robot in a limited space. Through differential steering, the wheeled mobile robot does not need to decelerate under a high-speed working condition to provide enough driving force difference to realize sliding steering. The differential steering can improve the steering stability of the wheeled mobile robot under the high-speed working condition. The invention effectively improves the adaptability of the wheel type mobile robot to the speed and ensures the optimal steering performance of the robot under different speed working conditions.

Claims (2)

1. A steering control method of a wheeled mobile robot is characterized by comprising the following specific steps:
step (1): when the mobile robot steers in situ, the controller controls the driver to drive the clutch to lock the steering pull rod, and the motor controller controls the driving forces of the wheel driving motors on the two sides to be equal and opposite to each other, so that the mobile robot steers in situ;
step (2): when the mobile robot needs to turn during the movement process, the controller judges which turning mode the wheeled mobile robot selects according to the current speed, the driving moment difference of the turning requirement and the ground attachment condition;
and (3): when the mobile robot moves under a low-speed working condition, the left wheel driving motor and the right wheel driving motor can provide enough driving force difference to drive the mobile robot to slide and steer, at the moment, the controller controls the starter to drive the clutch to lock the steering pull rod, the motor controller controls the driving forces of the wheel driving motors on the two sides to be different, and driving force moment difference is generated to drive the mobile robot to slide and steer, wherein the larger the driving force moment difference is, the smaller the turning radius is;
and (4): when the mobile robot moves under a high-speed working condition, the controller judges to switch to differential steering, the controller controls the driver to separate the clutch, the motor controller controls the wheels on two sides to drive the motors, and the generated driving force difference can drive the wheels to rotate around the main pins of the wheels respectively so as to generate a steering angle, wherein the larger the driving moment difference is, the larger the generated steering angle is;
and (5): in high speed differential steering, the degree of clutch compression is adjusted by a controller to control the amount of friction between the tie rod and the clutch for adjusting the resulting steering angle, and the degree of clutch compression is controlled to produce the desired turning radius based on the desired steering angle.
2. The steering control method of the wheeled mobile robot as claimed in claim 1, wherein the step (2) is specifically: obtaining the critical speed for destabilizing the sliding steering mode according to the current speed of the mobile robot, the maximum power of a wheel driving motor and road condition information; when the speed of the robot is lower than the critical speed, the left wheel driving motor and the right wheel driving motor provide driving force difference to drive the robot to slide and steer; when the speed of the robot is above this critical speed, differential steering intervention causes the robot to steer normally.
CN202010115952.3A 2020-02-25 2020-02-25 Steering control method for wheeled mobile robot Active CN111232051B (en)

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