輪式機器人EMB制動最佳滑移率線性自抗擾控制

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DOI：10.16652/j.issn.1004-373x.2025.16.029

中圖分類號：TN876-34；TP242；TP273 文獻標識碼：A 文章編號：1004-373X（2025）16-0177-10

Optimal slip rate based linear active disturbance rejection control for EMBbrakingofwheeledrobot

ZHANGKaijian，MAO Jingfeng，ZHANG Xudong，ZHENGJunqiang，QINQiuyue （SchoolofElectrical EngineeringandAutomation，NantongUniversity，Nantong226O19，China）

Abstract：Thebraking performanceof wheledrobots determines the stabilityof system movementand theaccuracyof path tracking.Inordertoimprovethebrakingperformanceof wheledrobots，anewlowdelayelectro-mechanicalbraking （EMB） actuatorstructureisstudied，andalinearactivedisturbancerejectioncontrol （LADRC）strategybasedonoptimalsliprateis proposed.Thethree-dimensionalstructuredesignofEMBactuatorisoptimizedbymeansofSolidWorkssoftwareacording tothe EMBbrakingprincipleandfunctionalrequirements.According totheoptimalslipratecontrolprincipleof thedriving wheel braking，theelectromechanicalcouplingdynamicsmodeloftheEMBactuatorbrakingprocessisderivedbycombiningwiththe single wheelmodelandtheBurckhardt tiremodel.Undertheconditionof modeluncertaintyandlargedisturbance，thedesignof LADRC brakingcontrolerbasedonsliprate iscompleted.Thesimulationtestingresultsof braking performance in multi-road conditionsshowthattheproposed methodcanreasonablyadjusttheoptimalsliprateofbrakingcontrolof wheeledrobot，and the adhesion coeficient of wheel braking always can reach the peak，which ensures the reliability of braking process.

Keywords：wheeledrobot;electronicmechanical braking;actuator;optimal sliprate;linearactivedisturbancerejection control; low delay;dynamic modeling

0 引言

現(xiàn)代智能移動輪式機器人的應用越來越廣泛，通過搭載必要的傳感器和專用設(shè)備，可以完成多種多樣的功能任務。（剩余9723字）