负载型四足步行平台对角步态重量自适应行走控制

doi:10.13229/j.cnki.jdxbgxb20200247

摘要/Abstract

摘要：

针对负载型四足步行平台重量变化时控制问题，提出了基于重心动力学与滑模自适应的控制方法。将步行平台的控制分为机身的控制及摆动腿的控制两部分，应用重心动力学与任务空间PD控制方法进行机身的运动控制，应用虚拟模型控制方法进行摆动腿的运动控制。而后，在平台高度方向应用滑模自适应控制算法，实现步行平台对重量变化的适应及重量识别，结合重心动力学提高平台前进速度及侧向速度跟踪的准确性。运用Adams和Simulink对步行平台重量变化时平地及斜坡对角步态行走进行仿真，并与虚拟模型控制方法进行对比。结果表明，重心动力学及滑模自适应控制算法实现了步行平台对重量的自适应性，且减小了前进速度和侧向速度跟踪误差，证明了所提控制方法的有效性。

关键词: 机电工程, 负载型四足步行平台, 重心动力学, 滑模自适应控制, 对角步态

Abstract:

Aiming at the control problems when load-carrying quadruped walking vehicle weight changes, a control method based on centroidal dynamics and adaptive sliding mode control method was proposed. The control of the walking vehicle was divided into two parts: the control of the torso and the control of swinging legs. The centroidal dynamics and task space PD control method were applied to the torso motion control, and the virtual model control method was applied to the motion control of the swinging legs. Then, the adaptive sliding mode control algorithm was applied in the height direction of the vehicle to realize the adaptation to weight changes and the weight recognition. The tracking accuracy of the forward speed and lateral speed was improved by combining the centroidal dynamics. Adams and Simulink were used to simulate the trotting gait on flat ground and slope when the weight of walking vehicle changes, and comparisons were made with the virtual model control method. The results show that the centroidal dynamic and adaptive sliding mode control algorithm realizes the weight adaptability of the vehicle, and reduces tracking errors of the forward speed and lateral speed, which proves the effectiveness of the proposed control method.

Key words: electromechanical engineering, load-carrying quadruped walking vehicle, centroidal dynamics, adaptive sliding model control, trotting gait

中图分类号:

TP242.6

谭永营,伊善贞,薛大兵,王晓明,袁磊. 负载型四足步行平台对角步态重量自适应行走控制[J]. 吉林大学学报(工学版), 2021, 51(4): 1506-1517.

Yong-ying TAN,Shan-zhen YI,Da-bing XUE,Xiao-ming WANG,Lei YUAN. Weight adaptive control for trotting gait of load-carrying quadruped walking vehicle[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(4): 1506-1517.

图/表 14

图1

表1

步行平台相关参数"

参数	参数说明	数值
$m b$ /kg	机身质量（无负载）	150
2n/m	前、后方向腿基坐标系之间距离	0.95
2w/m	左、右方向腿基坐标系之间距离	0.35
h/m	重心坐标系与腿基坐标系之间垂直距离	0.09
$m 1$ /kg	髋侧摆段质量	6
$m 2$ /kg	大腿质量	4.5
$m 3$ /kg	小腿质量	4.5
$l 1$ /m	髋侧摆段长度	0.085
$l 2$ /m	大腿长度	0.31
$l 3$ /m	小腿长度	0.3

表1

图2

图3

图4

图5

图6

图7

图8

图9

图10

图11

图12

图13

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