Motion Model of Two-Wheel Differential Drive Mobile Robot under Variable Load

Abstract:

Based on kinematics characteristic of two-wheeled differential drive mobile robot (WMR) and response characteristic of fact motor drive system, this paper presents the analysis method of the equivalent rotation inertia, and the entire vehicle load is assigned to each wheel, and then the wheel load is converted into the corresponding equivalent rotation inertia of the motor shaft of each wheel, and motion model of WMR are obtained for combining with quasi-equivalent (QE) state space model of double-loop direct current motor systems under variable load and kinematics model of WMR under the load changes. By using speed response data of the actual system and combining with genetic algorithm to accurately identify the model parameters. Finally, through experiments results of the WMR motion model and the second order model respectively comparing with the actual system which demonstrates the effectiveness of the proposing method and model.

• Periodical: Applied Mechanics and Materials (Volumes 668-669)
• Pages: 352-356
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.668-669.352
• Online since: October 2014
• Authors: Zhi Hu Ruan*, Niu Wang, Bing Xin Ran
• Keywords: Equivalent Moment of Inertia, Genetic Algorithm (GA), Model Identification, Two Wheeled Mobile Robot, Wheel Load

References

[1] Ruxun Zhou, Zelong Zhang, Yingchuan Qi. Computer Simulation, 2006, 23(6): 113-115. In Chinese.

[2] Liangzhong Jiang, Jin Yang, Zhi Yang, etal . Journal of South China University of Technology, 2008, 36(9): 136-139. In Chinese.

[3] Lyshevski SE. Mechatronics 1999, 9: 539–52.

[4] Niu Wang, Zushu Li, Yonglong Li, Ya Pan. Journal of System Simulation, 2008, 20(17): 4633-4646. In Chinese.

[5] Yonglong Li, Zushu Li, Niu Wang. Control Theory & Applications, 2008, 25(6): 1077-1080. In Chinese.

[6] Hong Mei, Yong Wang. Machine Tool & Hydraulics, 2009, 37(9): 127-130. In Chinese.

[7] Weixin Wang. Modern Electronics Technique, 2012, 2012, 35(10): 93-96. In Chinese.

[8] Yandong Li, Ling Zhu, Ming Sun. Computer Engineering and Applications, 2014, 50(1): 235-239. In Chinese.

[9] Yunjun Wu, Zushu Li, Niu Wang. Journal of Southeast University (Natural Science Edition), 2009, 39(Supl 1 ): 172-176. In Chinese.

[10] Zushu Li, Hua Zhang, Jiangong Gu, et al. Control Theory & Applications, 2008, 25(2): 242 – 246, 252. In Chinese.

[11] Jiangong Gu. Chongqing: Chongqing University, 2006. In Chinese.