Steering dynamic performance analysis of the tracked mobile robot

作者：Z Y Chen, G Z Chen, Le Qi, F Yin, D D Li, Mujia Shi · 发表于：IOP Conference Series Materials Science and Engineering · 年份：2018 · DOI：10.1088/1757-899x/392/6/062038 · 被引用次数：4 · 研究领域：Control and Dynamics of Mobile Robots、Power Systems and Technologies、Advanced Algorithms and Applications

In order to obtain the relationship and the change regulation of dynamic parameters of the tracked mobile robot in the steering process, the dynamic models under the influence of slip and centrifugal force are established respectively. At the same time, the mathematical expressions of the deflection of the steering center and the pressure on the track are obtained. The relationship of parameters is analyzed by Simulink simulation software and the error of the slip model, the centrifugal force model and the ideal model and is compared.