Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (4): 1506-1517.doi: 10.13229/j.cnki.jdxbgxb20200247

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Weight adaptive control for trotting gait of load-carrying quadruped walking vehicle

Yong-ying TAN1(),Shan-zhen YI1,Da-bing XUE2,Xiao-ming WANG1,Lei YUAN3   

  1. 1.Beijing Special Engineering and Design Institute，Beijing 100028，China
    2.Department of Automobile Engineering，Academy of Army Armored Forces，Beijing 100072，China
    3.Beijing Special Vehicle Research Institute，Beijing 100072，China
  • Received:2020-04-16 Online:2021-07-01 Published:2021-07-14

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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

CLC Number: 

  • TP242.6

Fig.1

Model and structural parameters of quadruped walking vehicle"

Table 1

Related parameters of walking vehicle"

参数参数说明数值
mb/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
m1/kg髋侧摆段质量6
m2/kg大腿质量4.5
m3/kg小腿质量4.5
l1/m髋侧摆段长度0.085
l2/m大腿长度0.31
l3/m小腿长度0.3

Fig.2

Number and coordinate systems of each link and joint of walking vehicle"

Fig.3

Virtual model control of swinging legs"

Fig.4

Control block of walking vehicle"

Fig.5

Influence of the value of λ on control effect"

Fig.6

Influence of value of η on control effect"

Fig.7

Influence of value of D on control effect"

Fig.8

Influence of value of γ1 on control effect"

Fig.9

Screenshots of walking vehicle on flat ground"

Fig.10

Changes of related parameters of walking vehicle on flat ground"

Fig.11

Speed tracking error of walking vehicle"

Fig.12

Screenshots of trotting on slope of walking vehicle"

Fig.13

Changes of related parameters of walking vehicle on slope"

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[1] LI Man-tian, JIANG Zhen-yu, WANG Peng-fei, SUN Li-ning. Trotting gait control of quadruped robot with straight legs based on virtual elements [J]. 吉林大学学报(工学版), 2015, 45(5): 1502-1511.
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