基于电磁感应的力矩发生装置研究

摘要

To conquer the problem of lack of direct torque in the under-actuated systems such as single wheel robots missiles satellites and spacecrafts ,a device of torque generation is proposed in this paper .The research results are acquired under the theory of classic electromagnetism ,and the details of the mechanism of the device are explained .The torque provided by the proposed mechanism is proportion to the speed ,so it is rather convenient to perform exact control by motors .The experiments carried out on single wheel robot′s lateral and yaw control respectively are included to demonstrate the superior performance the proposed method over some traditional ones ,which illuminating the promising practical application potentiality of under-actuated systems .%为解决独轮机器人、导弹、卫星及航天器等欠驱动系统的欠驱动难题，本文提出一种基于电磁感应的力矩发生装置。该装置是在经典电磁学理论支持下的研究成果，文中详述了装置的原理和具体设计的技术方案，并通过实验进行验证。本文提出的力矩发生装置的显著优势是所提供的力矩大小正比于速度项，方便用伺服电机进行精确控制，而且具有节能、无噪声的优点。在独轮机器人侧向和偏航控制中良好表现，进一步表明本文提出的力矩发生装置是实用和有效的。