基于陀螺仪和加速度计的动态倾角传感器

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三轴传感器嵌入式。。仿人形机器人步行姿态控制是机器人研究的重要课题之 一,目前国内外研究机构主要采取自制传感器或购买商用传感器 用于机器人姿态的获取,自制传感器一般都未公开资料且有一定 的针对性,并不通用;商用传感器价格昂贵,对于具有多个自由度 的仿人形机器人而言,采用商用传感器成本高,且对于小型的机 器人,商用传感器体积过大不便于安装。基于以上原因,根据我们 机器人的结构特点,设计了一种低成本、小体积、接口简单的动态 倾角传感器,用于机器人行走时倾角和腿部关节姿态的获取。
第9期 杌械设计与制造 2012年9月 Machinery Design Manufacture 143 1001-3997201209014303 摩托车行驶平顺性的仿真分析与试验研究 黄超群1来飞 401520 2 01122 Simulation Analysis and Test Research on Motorcycle Riding Comfort HUANG Chao-qun' LAI Fei Department of Automotive Engineering of Chongqing Technology and Business Institute Chongqing 401520 China Chongqing Vehicle Test and Research Institute of National Motocycle Quality Supervision and Testing Center Chongqing 401 122 China 个个哪个果个丌个个个哪个个哪个个 对含路面不平激励作用下的摩托车进行了行驶平顺性的动力学建模,用垂向刚度的弹簧冫 模型代替轮胎模型,从而对建模过禚进行简化,建立了车身垂向、俯仰及前后轮弹跳共四个自由度的多 体动力学模型。运用谐波叠加法建立了C级路面模型,并将其同时应用到多体动力学模型仿真分析以 及基于道路模拟的摩托车平順性的试验测试中。在道路模拟的试验中,采用两通道轮胎耦合道路模拟氵 试验杋对摩托车系统进行激振,将C级路面模型转仳为激振器的驱动信号,并对驾驶员坐垫和脚踏位 置的振动加度进行了測试,同时与仿真分析结果进行对比,验证了仿真模型的正确性 [Abstract] The dynamic model of motorcycle for riding analysis on uneven road was built up with the 2 spring model of the vertical stiffness to replace the lire model so as to simplify the modeling process and s 2 the four degrees of freeform of multi-body dynamics model was established including the bounce and pitch of the body and the bounce of front and rear wheel. Harmonic superposition method was used to estab lish the C grade road model and it was later applied to multi-body dynamics model analysis and also to the road 3 simulation test. In the road simulation test with two channel tire coupling road simulation test machine for S f motorcycle system vibration transforming the c grade road model into the drive signal of the vibrator the 3 vertical acceleration of the saddle and pedal position were meas ured. Comp ared with the test results .f multi-body dynamucs simulation model was proved to be correct. Key Words Motorcycle Riding Modeling and Simulation Road Simulation Test TH16U483TR523 x2011-11-14 垂中鲁开代●代·代·开·费开垂代鲁开什代曹“开鲁不开开代个开小六个小代开一代片“开“开代个·A代个章中代费片●中飞才代乘曹代章唐中代个·AA 317 0 M 1996. 2 Gulmammadoy F Analysis modeling and compensation of bias drift in ±0.63 MEMSinertial sensors J.IFE Int Conf. Recent Advances in Space Tee nologies 2009 591-596 3 Kimberly Tuck. Tilt Sensing Using Linear Accelerometers J. Freescale Semiconductor 2007 MEMS 200739121920-1924 M 2010. 6 M ?1994-2015ChinaAcademicJournalElectronicPublishingHouse.Allrightsreservedhttp:/www.cnki.net

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