Robot Driver's Motion Analysis and Simulation Based on Vehicle Speed Control

被引：0

作者：

Liu, Kunming ^{[1
]}

Xu, Guoyan ^{[1
]}

Yu, Guizhen ^{[1
]}

机构：

[1] Beijing Univ Aeronaut & Astronaut, Sch Transportat Sci & Engn, Beijing 100191, Peoples R China

来源：

PROCEEDINGS OF THE SECOND INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION | 2017年 / 53卷

基金：

中国国家自然科学基金;

关键词：

Robot driver; Electromechanical simulation; Collaborative simulation; Dynamic analysis; Virtual prototype;

D O I：

10.1007/978-981-10-2398-9_8

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In order to improve the control performance of the robot driver, the dynamic analysis of its key parts such as throttle and brake mechanical legs are carried out, furthermore, a co-simulation platform of the robot based on speed control is built, and the movement of the robot in the process is analyzed. The mechanical leg's dynamic simulation model is built by ADAMS, and then the vehicle model is built by CarSim while the electromechanical co-simulation model "Robot Driver-Vehicle" is built based on the closed-loop speed control in MATLAB/Simulink. Simulation results show that the dynamic model of mechanical leg has good dynamic response; In addition, the electromechanical co-simulation model is able to complete the basic speed tracking simulation experiment, so as to provide a virtual simulation platform to improve the mechanical structure and control strategy.

引用

页码：95 / 103

页数：9

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