轮腿式全地形移动机器人位姿闭环控制

doi:10.13229/j.cnki.jdxbgxb20180699

摘要/Abstract

摘要：

轮腿机器人在越障及振动时，不可避免地会出现位姿（质心位置和俯仰、侧倾姿态）的变化。为实现对其位姿的控制，将汽车的多连杆悬挂系统应用到轮腿机器人设计当中，设计了一款新型轮腿式全地形移动机器人，降低复杂地面对轮腿机器人姿态的影响，保证轮腿机器人在复杂环境下自身姿态的稳定性。首先，建立了轮腿机器人的单腿运动学模型，并搭建了单腿试验台架，验证了模型的正确性。接着，针对轮腿机器人的位姿问题分别建立俯仰和侧倾模型，并对轮腿机器人的位姿进行解耦运算，在满足轮腿机器人各质心位置分量(x、y、z)不变的情况下实现其姿态的闭环控制。然后，采用比例控制(P控制)在Simulink中搭建轮腿机器人位姿控制策略。最后，在Adams中创建轮腿机器人虚拟样机，并建立适用于大外倾角的PAC轮胎模型，利用Simulink与Adams联合仿真验证轮腿机器人在立体坡面上的位姿控制效果，仿真结果表明，本文控制算法对轮腿机器人的质心位置和姿态均有很好的跟踪效果，可将质心位置误差、姿态误差分别控制在4.3%和5%以内，验证了本文控制算法的有效性。

关键词: 车辆工程, 轮腿机器人, 位姿模型, 控制算法, 联合仿真

Abstract:

When the wheel-legged robot is in the state of obstacle crossing, it is inevitable to change the attitude and position (centroid position and pitch and roll attitude). In order to control its position and attitude, the multi-link suspension system of automobile is adopted to design a new wheel-legged robot to ensure the stability in complex environment. Firstly, the single leg kinematics model of the wheel-legged robot is established, and a single leg test bench is built to verify the correctness of the model. Then, the pitching and rolling model is established for the position and attitude of the wheel-legged robot, and the position and attitude of the wheel-legged robot are decoupled. the closed-loop control of the robot is realized in the condition that the position components of the center (x, y, z) of the wheel-legged robot are constants. Then, the proportional control (P-control) is used to build the control strategy of the wheel-legged robot in Simulink. Finally, the virtual prototype of the wheel-legged robot is created in Adams, and the PAC tire model is built for the large outer angle, and the joint simulation model of Simulink and Adams is used to confirm the effectiveness of the control strategy on the three-dimensional slope. Simulation results show that the centroid position and attitude of the wheel-legged robot have good tracking effect, and the position error and attitude error are controlled within 4.3% and 5% respectively, so the effectiveness of the control strategy of the wheel-legged robot is verified.

Key words: vehicle engineering, wheel-legged robot, position and attitude model, control algorithm, joint simulation

中图分类号:

U469.3

马芳武,倪利伟,吴量,聂家弘,徐广健. 轮腿式全地形移动机器人位姿闭环控制[J]. 吉林大学学报(工学版), 2019, 49(6): 1745-1755.

Fang-wu MA,Li-wei NI,Liang WU,Jia-hong NIE,Guang-jian XU. Position and attitude closed loop control of wheel⁃leggedall terrain mobile robot[J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1745-1755.

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参数	数值
多连杆悬架长度/mm	264
车轮半径/mm	130
作动器工作长度L初始值/mm	502
三角架DEC三条边长度/mm	388/234/205
三脚架支点与作动器支点距离EF/mm	370
等效双横臂悬架BG长度/mm	200
机身厚度EG/mm	300
弹簧阻尼BC长度/mm	270
轮腿长度AW/mm	400
多连杆夹角/（°）	37.5

分析类型	序号	作动器工作长度/mm	转角/(°)
试验	1	450	103.501
	2	460	101.085
	3	470	98.996
	4	480	96.096
	5	490	93.709
	6	500	90.711
	7	510	87.889
	8	520	84.524
	9	530	81.495
	10	540	77.971
	11	550	74.311
理论	12	参照式（8）

参数	符号	数值	单位
路面不平度	G₀	0.262	m³
参考空间频率	n₀	0.1	m^-1
行驶速度	v	0.5	m/s
频率指数	W	2.0	-
弹簧弹性系数	K₂	20 000	N/m
阻尼系数	C	1 000	N·m/s
1/4整车簧上质量	m₂	40	kg
1/4整车簧下质量	m₁	10	kg
轮胎弹性系数	K₁	180 000	N/m

参数	数值	参数	数值
H/mm	460	L₃/mm	200
H₁/mm	75	L₄/mm	230
H₂/mm	150	L₅/mm	300
H₃/mm	400	L₆/mm	200
L₁/mm	250	L₇/mm	270
L₂/mm	370

位姿	位置参数			姿态参数
位姿	x分量/mm	y分量/mm	z分量/mm	横摆角/（°）	俯仰角/（°）	侧倾角/（°）
初始	450	0	0	0	6	3
目标	450	0	0	0	0	0