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本文确定了对载车数学模型构造方法,并试图以KDM-1移动机器人作为实例,用非完整系统力学当作分析工具,通过实验获得模型数据,并由实车行驶进行检验,几个重要参数由仿真试验校核。数学模型的仿真与室内的行车试验相对比的结果比较一致。对同类载车数学模型的建立提供了有效的方法。
In this paper, the method to construct the mathematical model of the vehicle is determined and the KDM-1 mobile robot is taken as an example. The nonholonomic system mechanics is taken as the analysis tool, the model data is obtained through experiments and the test is carried out by the real vehicle. A few important parameters By the simulation test verification. The simulation results of the mathematical model are consistent with those of the indoor driving test. It provides an effective method to establish the mathematical model of the same type of vehicle.