Research On Key Technologies Of Mobile Robot Based On Hub Motor

Under the background of “made in China 2025” strategy and “industry 4.0” era,mobile robots play an important role in all walks of life and become a hot issue in the intelligent manufacturing industry.At present,the power system of mobile robot mainly uses transmission system,such as chain drive,belt drive,etc.,which has the disadvantages of complex mechanical structure,low energy utilization,large chassis space and so on.In this paper,a mobile robot based on hub motor is designed.Firstly,according to the actual working environment of the mobile robot,the functional requirements are proposed and the performance index table is made.Then,according to the number of wheels of the mobile robot,the paper makes a detailed analysis and comparison of the wheel distribution of the common mobile robot,and finally determines the six wheel distribution scheme of the mobile robot.At the same time,the common guidance technology of mobile robot is compared and analyzed,and the magnetic stripe guidance mode is determined.Based on the modular design idea,the overall structure of the mobile robot and the internal structure of the hub motor are designed.In addition,the performance index of the motor type and the advantages and disadvantages of the driving mode of the hub motor are compared and analyzed.It is decided to adopt the three-phase permanent magnet synchronous motor with the outer rotor direct drive.On this basis,the hardware system of the mobile robot is designed,and the software development of the mobile robot is introduced.Secondly,the basic motion control process of the mobile robot is analyzed,two motion control schemes based on kinematics and dynamics are compared,and the control scheme based on kinematic mathematical model is determined.At the same time,according to the mechanical structure and differential drive mode of the mobile robot,the kinematic mathematical model of the mobile robot is established.Then,the basic theory of preview control algorithm is introduced,and the hierarchical control idea is established based on the kinematic model of the mobile robot,and the path tracking control system of the mobile robot is designed by using the preview control algorithm of geometric tracking,which mainly includes the search of preview point module,path tracking controller module,and finally the preview control algorithm equation of the mobile robot is established.Finally,the software system is developed based on the Simulink model to generate code automatically,and then through the straight-line path tracking experiment,circular path tracking experiment and sinusoidal path tracking experiment,it is verified that the preview control algorithm has good control effect,meets the engineering requirements,and provides reference for the application of industrial field.