Research On Coordinated Wheel Motion Control For Wheeled Mobile System

With the rapid development of the science and technology, the detection to the unknown environment for human is becoming more and more deeply. Thus, the requirement to the multi-wheel coordinating control technology of wheeled moving system is much higher. However, the multi-wheeled moving system has redundant driving control value due to its independent driving structure. The phenomena of poor coordination will appear if it moves on the rough or the loose ground. This will result in inaccurate motion, high slip rate, sinking and power, quick machinery wearing and poor trafficability.In response to these problems, taking the four wheel diamond mobile systems as research object, researching from the background of multiple rounds of coordinated control technology and current research, we analyzed its kinematics, dynamics, control and driving force distribution. Using open-loop kinematic coordination law, closed-loop dynamics, double branch (DB) method, generalized inverse (GI) Act and the sliding mode variable structure law, a joint simulation of different software was conducted. Finally research indicates that dynamic closed-loop method is better than the open-loop kinematic control method, coordinated double branch (DB) Act is better than the generalized inverse (GI) control method, sliding-mode variable structure law is better, it has a robust, strong anti-jamming ability and can achieve a better control. At the same time, results also verified the validity and accuracy of several rounds of coordinated dynamics on soft soil surface model.The study have significant reference value not only for independent wheel drive specialty vehicles and related high-tech industries, but also for wheeled robots and intelligent vehicle development.