| 引用本文: | 舒兆根,唐修俊,胡惠道,等.KDM 智能车的数学模型研究.[J].国防科技大学学报,1993,15(1):97-104 ,96.[点击复制] |
| Shu Zhaogen,Tang Xiujun,Hu Huidao,et al.The Research of Mathematical Model for Mobile Robot KDM-1[J].Journal of National University of Defense Technology,1993,15(1):97-104 ,96[点击复制] |
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| KDM 智能车的数学模型研究 |
| 舒兆根, 唐修俊, 胡惠道, 周浩贤, 徐明 |
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(自动控制系)
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| 摘要: |
| 本文确定了对载车数学模型构造方法，并试图以KDM-1移动机器人作为实例，用非完整系统力学当作分析工具，通过实验获得模型数据，并由实车行驶进行检验，几个重要参数由仿真试验校核。数学模型的仿真与室内的行车试验相对比的结果比较一致。对同类载车数学模型的建立提供了有效的方法。 |
| 关键词: 动力学，数学模型，移动载车，仿真试验，非完整系统 |
| DOI： |
| 投稿日期：1992-05-11 |
| 基金项目:部委级科技进步二等奖 |
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| The Research of Mathematical Model for Mobile Robot KDM-1 |
| Shu Zhaogen, Tang Xiujun, Hu Huidao, Zhou Haoxian, Xu Ming |
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(Department of Automatic Control)
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| Abstract: |
| The method of mathematical model construction for mobile vehicle has been created in this paper. The dynamic model of Mobile Robot KDM-1 as the special case has been deduced in detail, and the authors try to use the dynamical mechanics of nonholonomic systems as the analytical instruments. The data of the model are obtained by experiment and checked by real vehicle driving，and several parameters are inspected by simulation testing. It is revealed that the satisfactory result of simulation with dynamic model consists with that of driving experiments of vehicle inside the room. The paper has presented a useful way for other vehicle carrying mobile robot to build up he mathematical model. |
| Keywords: dynamics,mathematical model,mobile vehicle simulation testing,incomplete system |
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