Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (6): 1745-1755.doi: 10.13229/j.cnki.jdxbgxb20180699

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Position and attitude closed loop control of wheel⁃leggedall terrain mobile robot

Fang-wu MA1,2(),Li-wei NI1,2,Liang WU1,2(),Jia-hong NIE1,2,Guang-jian XU1,2   

  1. 1. College of Automotive Engineering, Jilin University, Changchun 130022, China
    2. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
  • Received:2018-07-09 Online:2019-11-01 Published:2019-11-08
  • Contact: Liang WU E-mail:mikema@jlu.edu.cn;jluniliwei@163.com

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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

CLC Number: 

  • U469.3

Fig.1

Structure diagram of all terrainwheel-legged robot"

Fig.2

1/4 platform model"

Fig.3

Schematic diagram of vertical view ofmulti-link suspension is equivalentto double wishbone suspension"

Fig.4

Pitching schematic diagram of robot withfixed center of mass"

Fig.5

Equivalent four bar linkage model"

Fig.6

Test equipment and bench"

Table 1

Main dimension parameters ofsingle leg of robot"

参 数数值
多连杆悬架长度/mm264
车轮半径/mm130
作动器工作长度L初始值/mm502
三角架DEC三条边长度/mm388/234/205
三脚架支点与作动器支点距离EF/mm370
等效双横臂悬架BG长度/mm200
机身厚度EG/mm300
弹簧阻尼BC长度/mm270
轮腿长度AW/mm400
多连杆夹角/（°）37.5

Table 2

Comparison table of theoreticalanalysis and test"

分析类型序号

作动器工作

长度/mm

转角/(°)
试验1450103.501
2460101.085
347098.996
448096.096
549093.709
650090.711
751087.889
852084.524
953081.495
1054077.971
1155074.311
理论12参照式（8）

Fig.7

Comparison diagram of theoretical andexperimental data"

Fig.8

1/4 robot model"

Fig.9

Simulink simulation model of 1/4 robot dynamics"

Table 3

Simulation parameters"

参数符号数值单位
路面不平度G00.262m3
参考空间频率n00.1m-1
行驶速度v0.5m/s
频率指数W2.0-
弹簧弹性系数K220 000N/m
阻尼系数C1 000N·m/s
1/4整车簧上质量m240kg
1/4整车簧下质量m110kg
轮胎弹性系数K1180 000N/m

Fig.10

Simulation result of suspension dynamicdisplacement"

Fig.11

Schematic diagram of pitching attitudecontrol on slope"

Fig.12

Rolling attitude control on the slope"

Fig.13

Schematic diagram of robot bodyattitude projection"

Fig.14

Robot body simplified attitude projection"

Fig.15

Position and posture control blockdiagram of wheel-leg"

Fig.16

Information interaction diagram ofSimulink and Adams"

Fig.17

Simulink and Adams joint simulation"

Table 4

Structural parameters of wheel-legged robot"

参数数值参数数值
H/mm460L3/mm200
H1/mm75L4/mm230
H2/mm150L5/mm300
H3/mm400L6/mm200
L1/mm250L7/mm270
L2/mm370

Table 5

Position and pose parameters ofwheel-legged robot"

位姿位置参数姿态参数
x分量/mmy分量/mmz分量/mm横摆角/（°）俯仰角/（°）侧倾角/（°）
初始45000063
目标45000000

Fig.18

Position and posture adjustment process of wheel-legged robot"

Fig.19

Position and posture tracking results"

Table 6

Error analysis table"

跟踪误差参数误差值误差率/%
质心位置x分量/mm30.6
质心位置y分量/mm61.2
质心位置z分量/mm204.3
姿态俯仰角/（°）0.23
姿态横摆角/（°）0.062
姿态侧倾角/（°）0.155
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