混合移动机器人速度控制的智能传动新概念
New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control
摘要：
本文提出了一种利用二自由度齿轮传动实现移动机器人速度控制的新概念。所开发的智能速度控制器利用齿轮箱，其中包括周转齿轮训练与两个输入，一个耦合到发动机轴和另一个变速直流电动机的轴。净输出速度是两个输入速度的组合，并且由行星齿轮训练的传动比控制。这种新方法消除了变矩器的使用，而变矩器是所有可用的自动变速器的不可或缺的部分，从而减少了液力偶合器过程中在箱体中发生的功率损失。通过逐渐改变直流电动机的速度，实现了无级变速。所开发的控制器的其他优点是靠边停车和倒车，通过智能混合直流电动机和发动机的速度来实现。这种方法在整车设计中消除了传统的制动系统。使用两个动力源，内燃机和电池驱动的直流电动机，利用混合动力汽车的现代理念。新的移动机器人速度控制器即使在内燃机故障的极端情况下也能够驱动车辆，例如，由于气体耗尽。
英文摘要：
This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
