共查询到20条相似文献,搜索用时 15 毫秒
1.
V. B. Larin 《International Applied Mechanics》2007,43(7):800-808
The paper addresses the problem of synthesizing a stabilization system for a robotic vehicle with two steerable wheels with
allowance for dynamic effects. A solution is presented for the case of coasting. The general case of stabilization where dynamic
effects are taken into account is examined
__________
Translated from Prikladnaya Mekhanika, Vol. 43, No. 7, pp. 114–124, July 2007. 相似文献
2.
V. B. Larin 《International Applied Mechanics》2006,42(9):1061-1070
The paper addresses the problem of designing a stabilization system for a wheeled robotic vehicle with one steering wheel
subject to dynamic effects. A solution of the problem is given for the case of coasting. The admissible error of the robot
speed in generating a feedback signal is estimated. The general problem of stabilization with allowance for dynamic effects
is considered
__________
Translated from Prikladnaya Mekhanika, Vol. 42, No. 9, pp. 116–126, September 2006. 相似文献
3.
V. B. Larin 《International Applied Mechanics》2007,43(11):1269-1275
A compound transport vehicle with one steerable wheel is considered as a controlled mechanical system with nonholonomic constraints.
A control system for this system is synthesized within the framework of the kinematic approximation. A procedure is proposed
to synthesize a robust controller for the system. The efficiency of this procedure is demonstrated with an example
__________
Translated from Prikladnaya Mekhanika, Vol. 43, No. 11, pp. 105–112, November 2007. 相似文献
4.
V. B. Larin 《International Applied Mechanics》2008,44(11):1302-1308
The reactions of the nonholonomic constraints of a wheeled robotic vehicle with one steerable wheel are determined. Simplified
(asymptotic) relations are derived in addition to the exact ones. They are used to estimate the reactions. The efficiency
of the approximate formulas is demonstrated by an example
Translated from Prikladnaya Mekhanika, Vol. 44, No. 11, pp. 123–131, November 2008. 相似文献
5.
V. B. Larin 《International Applied Mechanics》2005,41(4):441-448
A nonholonomic model of a wheeled robot with one steering wheel is considered. The model accounts for dynamic effects. The motion-planning problem for this model is solved by reducing it to a linear two-point boundary-value problem__________Translated from Prikladnaya Mekhanika, Vol. 41, No. 4, pp. 117–125, April 2005. 相似文献
6.
V. B. Larin 《International Applied Mechanics》2005,41(5):552-559
A nonholonomic model of a wheeled robot with two steerable wheels is considered. The model accounts for dynamic effects. The motion-planning problem for this model is solved by reducing it to a linear two-point boundary-value problem__________Translated from Prikladnaya Mekhanika, Vol. 41, No. 5, pp. 107–115, May 2005. 相似文献
7.
The feasibility of a preview control is examined for tracked vehicle’s suspension systems to improve the performance of tracked vehicle systems. Numerical results are compared with LQ, robust H∞, reference model tracking and hybrid preview control methods. The ride quality analysis is performed based on the vertical acceleration at the driver’s position. On the simulations, it is proven that the hybrid preview controller is the most efficient and practical method. 相似文献
8.
ADAPTIVE REGULATION OF HIGH ORDER NONHOLONOMIC SYSTEMS 总被引:2,自引:0,他引:2
The problem of adaptive regulation of a class of high-order parametric non holonomic systems in chained-form was discussed. Using adding a power integrator technique and state scaling with discontinuous projection technique, a discontinuous adaptive dynamic controller was constructed. The controller guarantees the estimated value of unknown parameter is in the prescribed extent. 相似文献
9.
10.
The objective of this paper is to find an optimal method for the design of tracked base travel systems for special purpose vehicles and robotic machines that may be required to steer over a light bonded terrain composed of fresh concrete. For the case of a vehicle traveling on a weak fresh concrete during construction, the paper presents detailed comparative studies of the steering performances of a small model tracked test vehicle with alternative amount of steering ratio for various concrete slump values. For these studies a detailed simulation analytical method has been developed. From this work it is proven, in comparison to experiment, that the simulation analytical method is useful for predicting various steering performances of a test tracked vehicle running upon soft fresh concrete of various consistencies. 相似文献
11.
From the viewpoints of environmental protection, support for the aged and ensuring the right to mobility, there is a need to develop a new type of mobility vehicle that provides more effective transportation. The authors propose an inverted pendulum vehicle with pedals as one of the forms of personal mobility vehicles (PMVs). In this paper, the steering performance of the inverted pendulum vehicle with pedals is discussed based on experiments on a prototype. From the experimental results, it was confirmed that the errors from the five subjects for the target trajectory and the five-grade evaluation of the maneuverability were similar. Finally, we created an inverted pendulum vehicle with pedals to which was added a reaction actuator for the steering system. From the experimental results, it was found that setting appropriate feedback gains for the handle steering angle and its rate of rotation, which control the right and left wheel driving torques, resulted in greatly improved maneuverability. 相似文献
12.
A method of practical synthesis of a program trajectory for a mobile robot moving along an L-shaped holding alley with a 90°-turn
is developed. The geometric parameters of the possible maneuvers are given. Software is developed. Examples of the robot's
moving along such alleys are considered
Translated from Prikladnaya Mekhanika, Vol. 44, No. 9, pp. 133–143, September 2008. 相似文献
13.
14.
朱海平 《应用数学和力学(英文版)》1998,19(9):843-849
I.IntroductionTheinverseproblemofdynamicsisoneoftheimportantsubjectsinmechanics.In1977,Szebehelysetforthaninverseproblemforthedeterminationofthet'orcefunctiontoamaterialpointintheplanefromparametricfamilyoftrajectories,andobtainedalinearfirstorderpartialdifferentialequationfortheforcefunction.Later,Erdil'l,MellsandPirast=l,MellsandBorgherol'l,BoilsandMertnsl4]extendedSzebehely'sproblemtoboththreeandndimensionalholonomicsystem.Recently,theauthorandProfessorMetFengxiangl'1studiedtheSzebehe… 相似文献
15.
Nonlinear oscillations and chaotic motions in a road vehicle system with driver steering control 总被引:5,自引:0,他引:5
The nonlinear dynamics of a differential system describing the motion of a vehicle driven by a pilot is examined. In a first step, the stability of the system near the critical speed is analyzed by the bifurcation method in order to characterize its behavior after a loss of stability. It is shown that a Hopf bifurcation takes place, the stability of limit cycles depending mainly on the vehicle and pilot model parameters. In a second step, the front wheels of the vehicle are assumed to be subjected to a periodic disturbance. Chaotic and hyperchaotic motions are found to occur for some range of the speed parameter. Numerical simulations, such as bifurcation diagrams, Poincaré maps, Fourier spectrums, projection of trajectories, and Lyapunov exponents are used to establish the existence of chaotic attractors. Multiple attractors may coexist for some values of the speed, and basins of attraction for such attractors are shown to have fractal geometries. 相似文献
16.
On the invariant theory of nonholonomic systems with constraints of non-Chetaev type 总被引:1,自引:0,他引:1
Shao-Kai Luo 《Acta Mechanica Solida Sinica》1993,6(1):47-57
This paper deals with the theory of the differential invariant and integral invariant for a nonholonomic system with constraints of non-Chetaev type. It gives the restricted conditions of virtual displacement in velocity space for nonholonomic constraints of non-Chetaev type and extends the Jourdain principle and the canonical equation for the system. It presents and proves generalized Noether theorem, and gives generalized energy integral and cyclic integral for the system. Finally, the basic integral variants for the system are extended and the integral invariant of Poincaré-Cartan and the universal integral invariant of Poincaré for the system are obtained. 相似文献
17.
Joint Stiffness Control of a Two-Link Flexible Arm 总被引:1,自引:0,他引:1
In this study, results are presented for the control of impactinduced transient oscillations on a two-link flexible arm by varying thestiffness of an elbow actuator. Case studies were conducted to determinethe effectiveness of the control method as various arm parameters suchas payload, length, elbow angle, and elbow stiffness changed. Theresults of selected cases were then verified experimentally anddemonstrated that the suggested controller was effective, robust, andquite insensitive to parameter variations. 相似文献
18.
Several studies on multibody dynamics optimization have been conducted. One important limitation of these studies is their computational e?ciency, especially when optimizing a complex system’s performance. The co-authors developed a very e?cient optimization technique based on an adjoint sensitivity analysis methodology. The scope of this article is to validate this technique by conducting a benchmark analysis against some of the most popular optimization methods, including gradient-based optimization using finite differences, design of experiment using optimal Latin hypercube, and design of experiment using full factorial design matrix. A vehicle system is used as a case study for optimizing its ride comfort. 相似文献
19.
Robust adaptive control of nonholonomic systems in chained form with linearly parameterized and strongly nonlinear disturbance and drift terms is dicussed. The novelty of the proposed method is a combined use of the state-scaling and the back-stepping procedure. 相似文献
20.
A kinetic model of the piecewise-linear nonlinear suspension system that consists of a dominant spring and an assistant spring is established. Bifurcation of the resonance solution to a suspension system with two degrees of freedom is investigated with the singularity theory. Transition sets of the system and 40 groups of bifurcation diagrams are obtained. The local bifurcation is found, and shows the overall character- istics of bifurcation. Based on the. relationship between parameters and the topological bifurcation solutions, motion characteristics with different parameters are obtained. The results provides a theoretical basis for the optimal control of vehicle suspension system parameters. 相似文献