轮式机器人EMB制动最佳滑移率线性自抗扰控制

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

中图分类号：TN876-34；TP242；TP273 文献标识码：A 文章编号：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

现代智能移动轮式机器人的应用越来越广泛，通过搭载必要的传感器和专用设备，可以完成多种多样的功能任务。（剩余9723字）