汽车工程学报2026，Vol.16Issue(5)：831-843,13.DOI:10.3969/j.issn.2095‒1469.2026.05.10
"踏板机器人-车辆"广义动力学模型建立
Generalized Dynamic Modeling of a Pedal Robot-Vehicle System
摘要
Abstract
Driving robots play a crucial role in intelligent vehicle testing.Traditional driving robots employ a cascaded architecture for vehicle control,where error propagation between subsystems leads to insufficient control accuracy.To address this issue,this paper proposes a generalized dynamic model of the"Pedal robot-Vehicle"system to reduce error propagation.A parallelogram double-joint mechanism is designed,reducing the time complexity of the kinematic solutions to O(1).The motor load torque is derived based on D'Alembert's principle,eliminating dynamic coupling errors of inertial forces introduced by empirical formulas.A generalized dynamics model of the"pedal robot-vehicle"system is constructed to achieve a direct mapping from motor voltage to vehicle speed.Simulation results verify the effectiveness of the proposed generalized dynamics model,providing a reliable basis for high-precision vehicle speed tracking control.关键词
驾驶机器人/踏板机器人/广义动力学模型/平行四边形结构/建模Key words
driving robot/pedal robot/generalized dynamics model/parallelogram structure/modeling分类
交通工程引用本文复制引用
何友国,邓肯,蔡英凤,袁朝春,李祎承,李艺.."踏板机器人-车辆"广义动力学模型建立[J].汽车工程学报,2026,16(5):831-843,13.基金项目
国家重点研发计划项目(2022YFB2503302) （2022YFB2503302）
国家自然科学基金项目(52225212,52272418,U22A20100,5217120774) （52225212,52272418,U22A20100,5217120774）
江苏大学农业装备学院项目(NZXB20210103) （NZXB20210103）
