Design And Research Of Mechanical Leg Control System For Unmanned Driving Robot

Unmanned robot is an intelligent robot that can replace human drivers to manipulate vehicles in extreme weather and harsh environment.It is widely used in vehicle performance test,disaster relief,special transportation tasks and other occasions because it does not need to modify the manipulated vehicle during installation and is suitable for many types of vehicles.Based on the existing research foundation,this paper studies the mechanical structure of the robot leg and the software and hardware of the control system,as well as the characteristics of the vehicle pedal.Firstly,the function and performance requirements of driving mechanical leg are introduced.The structural components of the mechanical leg are introduced in detail,and the key parts of the structure are designed.The model of the mechanical leg is simplified,and the kinematic model and dynamic model of the mechanical leg are established based on plane geometry and the second kind of Lagrange equation.The dynamic model of driving motor and ball screw is established,and the overall model is deduced combined with the driving mechanical leg model.By comparing the physical model,the effectiveness of the overall model is verified.Next,the requirements of driving mechanical leg control system are analyzed,and the control system scheme is designed.The hardware of the control system is selected and designed.Including the selection of motor and motor driver,controller,sensor,communication mode and power module.The voltage amplification circuit and differential drive circuit are designed.The software of the mechanical leg control system is developed,including driving control,communication,signal acquisition module and the user interface of the upper computer.Then,the control of mechanical leg of unmanned robot is studied.The characteristics of vehicle pedal are studied,the pedal dynamic model is established,and the key parameters are identified combined with the experimental data.The vehicle longitudinal dynamics model is derived,including vehicle dynamics model,driving and braking model,and finally the vehicle-unmanned robot integrated model is obtained.The double closed-loop control of acceleration mechanical leg and braking mechanical leg is studied,and the acceleration,braking and coordinated control methods are designed to realize the pedal control and speed tracking of driving mechanical leg.The upper control strategy of clutch mechanical leg and the robust control method of clutch mechanical leg considering pedal characteristics are studied,and the external disturbance is estimated by neural network,considering the wear of clutch,the compensation control of clutch mechanical leg is studied.Finally,the stability of the control method is proved based on Lyapunov stability theory and Hamilton Jacobi inequality.Finally,in order to verify the handling performance of the driving mechanical leg,the component bench test of the driving mechanical leg and the whole vehicle drum bench test are carried out.The braking performance test including constant pedal force test,increasing pedal force test,acceleration performance test including full throttle starting acceleration performance test and vehicle speed tracking test including various emission durability cycle driving conditions were carried out.