Escolar Documentos
Profissional Documentos
Cultura Documentos
(2007)05−0679−06
DOI: 10.1007/s11771−007−0130−0
(1. School of Materials Science and Engineering, Shanghai Jiaotong University, Shanghai 200030, China;
2. Faculty of Electric and Automatic Engineering, Shanghai University of Electric Power, Shanghai 200090, China)
Abstract:Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the
welding mobile robot were derived. In order to realize the combination control of body turning and slider adjustment, the dynamic
behaviors of sliders were also investigated. As a result, a systematic and complete dynamic model for the welding mobile robot was
constructed. In order to verify the effectiveness of the above model, a sliding mode tracking control method was proposed and
simulated, the lateral error stabilizes between −0.2 mm and +0.2 mm, and the total distance of travel for the slider is consistently
within ±2 mm. The simulation results verify the effectiveness of the established dynamic model and also show that the seam
tracking controller based on the dynamic model has excellent performance in terms of stability and robustness. Furthermore, the
model is found to be very suitable for practical applications of the welding mobile robot.
Key words: dynamic model; seam tracking; sliding mode control; welding mobile robot
Foundation item: Project(50605044) supported by the National Natural Science Foundation of China; Project(2004DFA02400) supported by the Key
International Science and Technology Cooperation Program
Received date: 2007−03−10; Accepted date: 2007−04−28
Corresponding author: ZHANG Ke, PhD; Tel: +86-21-62933401; E-mail: zhangke@sjtu.edu.
680 J. Cent. South Univ. Technol. 2007, 14(5)
center of mass point C and the guide point E, and b Let Be be the effective viscous friction coefficient of
represents the distance between the welding torch point the combined motor rotor, gearbox, and wheel. The
F and the center point T of the cross slider. dynamic equation of the wheel motor assembly can be
described as follows[18]:
⎧⎪ I wθ&&r + Be θ&r = τ r − r Fr y
⎨ && (4)
⎪⎩ I wθ l + Be θ&l = τ l − r Fl
where Iw is the effective moment of inertia, τ1 and τr y'
are the driving torques of the left and right motors,
respectively, Fl and Fr denote the left and right driving
forces, respectively, and θi (i =r, l) is the rotational angle
of the driving wheels.
y
3.2 Vehicle frame
The dynamic analysis of the welding mobile robot
body is shown in Fig.2. The Newton-Euler equations of O
the vehicle frame are expressed as follows: z
删除的内容:
⎧ ⎡( Fr + Fl ) − Fx′f ⎤ cosθ − ⎡ Fn − Fy′f ⎤ sin θ = mC && xC 带格式的: 项目符号和编号
Fig.1 Structure of developed welding mobile robot ⎪⎣ ⎦ ⎣ ⎦
⎪
⎨ ⎡⎣( Fr + Fl ) − Fx′f ⎤⎦ sin θ + ⎡⎣ Fn − Fy′f ⎤⎦ cos θ = mC && yC (5)
Let v and ω denote the linear and angular velocity, ⎪ &&
(
⎪⎩ r F − Fl ) c − F n d − Fy′f e − ( Fx′fr − F x′fl )l = I Cθ
respectively, and the kinematic model of the mobile
robot body can be described by a Jacobian matrix J as where Fn = Fnr + Fnl ,Fx ' f = Fx′fr + Fx′fl , Fy ' f = Fy′fr + Fy′fl ,
follows[16]: (xc, yc, θ)T denotes the posture of the center of mass with
⎡ x& ⎤ ⎡ cos θ 0 ⎤ respect to the global coordinates, mC is the vehicle frame
⎢ y& ⎥ = Jq = ⎢ sin θ 0 ⎥ ⎡ v ⎤ (1) mass, IC is the frame inertia relative to point C, Fx'fr, Fx'fl,
⎢ ⎥ ⎢ ⎥ ⎢ω ⎥
&
⎣⎢θ ⎦⎥ ⎣⎢ 0 1 ⎦⎥ ⎣ ⎦ Fy'fr, and Fy'fl are the reaction forces applied on the frame
by the front wheel, respectively, and Fnr and Fnl are the
Let θ&r and θ&l denote the angular velocities of the forces resulting from the normal friction forces between
right and left driving wheels, respectively. From the the ground and the wheel, respectively, 2l denotes the
Eqn.(1), three constraints can be obtained as follows: distance between the left and right front wheels, and e
⎧ x& sin θ − y& cos θ = 0 denotes the distance from the front wheel to the mass
⎪ center C. Other structural parameters are shown in Fig.1.
⎨ x& cos θ + y& sin θ + cθ& = rθ&r (2)
⎪ x& cos θ + y& sin θ − cθ& = rθ&
⎩ l
Eqn.(2) corresponds to the hypothesis of pure
rolling and non-slipping condition, and shows that the
mobile robot is a typical nonlinear dynamic system with
the above nonholonomic constraints.
3.1 Left and right driving wheels Fig.2 Dynamic analysis of welding mobile robot body 带格式的: 项目符号和编号
When in the condition of pure rolling without any
slipping, the relationship between the linear velocities vl, Point C is not the point to be tracked in order to
vr and the angular velocities θ&l , θ&r can be described as obtain the dynamic description of welding torch point F.
follows: According to the plane motion principle of a rigid body,
the geometrical relation between points C and F can be
⎪⎧ vl = r θ&l
⎨ (3) described as follows:
⎪⎩vr = r θ&r
ZHANG Ke, et al: Dynamic modeling and simulation for nonholonomic welding mobile robot 681
T
⎧ xF = xC + a′ cosθ − b sin θ [τr, τl, τz, τb] , τd presents the unknown disturbance and
⎨ (6)
⎩ yF = yC + a′ sin θ + b cos θ modeling dynamics, A(q ) is the Jacobian full rank
where a ′ denotes the distance from the slider center matrix, λ denotes the vector of Lagrange multiplier
point T to the center of mass C. From Fig.1, a ′ = a − d that expresses the constraints forces in Eqn.(10),
and A( q)q& = 0 describes the nonholonomic kinematic
can be derived.
For the differentially steered wheeled welding constraints of the welding mobile robot.
mobile robot, the relation among the linear velocities vl ⎡ Iw ⎤
⎢ m1 sin(2θ ) 0 m3 0 ⎥
and vr of the driving wheels, the linear velocity v of the r
⎢ ⎥
guide point E, and the angular velocity θ& can be ⎢ Iw sin(2θ ) m2 0 m4 0 ⎥
⎢ r ⎥
described as follows: ⎢
2πI z
⎥ ,
⎢ 0 0 0 0 ⎥
M (q ) = ⎢
⎪⎧ vl = v − c θ& kz ⎥
⎨ (7) ⎢ ⎥
⎪⎩vr = v + c θ& ⎢
0 0 0 IC r +
2c 2
Iw 0 ⎥
⎥
⎢ r
⎢ ⎥
⎢ 2πI b ⎥
3.3 Cross slider 0 0 0 0 带格式的: 项目符号和编号
Let cb be the effective viscous friction coefficient of ⎣⎢ kb ⎦⎥
5 Conclusions
References 删除的内容:
Fig.5 Lateral error during tracking of circle
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