复杂地形下轮腿复合机动平台动态运动控制

doi:10.12382/bgxb.2023.0636

摘要/Abstract

摘要：

复杂地形环境下质心参考轨迹的动态精确跟踪是保障轮腿复合机动平台稳定执行各项任务的关键。为提升平台的地形适应能力与位姿跟踪能力,提出一种动态运动控制策略。综合地形因素,建立包含车轮动力学的单刚体动力学模型,并通过近似简化将系统动力学模型转化为状态空间方程的标准形式。考虑车轮与腿部耦合运动,提出一种基于前馈力矩与反馈力矩的混合运动控制方法。通过二次规划算法求解最优地面反作用力,利用雅克比矩阵将作用力映射至关节以获取前馈力矩。为避免由环境引起的外部扰动造成系统无法在较短时间内完成优化计算,引入关节力矩反馈控制及时修正位姿跟踪误差,使系统能够快速准确地响应外部扰动,有效提高系统的鲁棒性和稳定性。仿真结果表明,新方法可有效提升平台在复杂地形下位姿动态跟踪精度,保障平台平稳运行,为复杂地形下轮腿复合机动平台的工程应用提供有力支撑。

关键词: 轮腿复合机动平台, 复杂地形, 单刚体动力学模型, 混合运动控制

Abstract:

The dynamic and accurate tracking of the center-of-mass reference trajectory in complex terrain is crucial to ensure the stable execution of tasks for wheeled-legged hybrid platform. A dynamic locomotion control strategy is proposed to enhance the terrain adaptability and pose tracking capability of the platform. Taking into account terrain factors, a single rigid body dynamics model including wheel dynamics is established. The system dynamics model is then transformed into the standard form of state-space equations through an approximate simplification. Considering the coupled motion of the wheels and legs, a hybrid locomotion control method based on feedforward and feedback torques is introduced. The quadratic programming algorithm is used to solve the optimal ground reaction forces, and the Jacobian matrix is used to map these forces into the joints for feedforward torque generation. To address the external disturbances caused by the environment that may hinder the system’s ability to perform optimization calculations in a short time frame, the joint torque feedback control is introduced to promptly correct the pose tracking errors. This enables the system to respond rapidly and accurately to the external disturbances, thus effectively improving its robustness and stability. Simulated results demonstrate that the proposed method significantly enhances the dynamic pose tracking accuracy of the platform in complex terrains, ensuring smooth platform operation. This method provides strong support for the engineering application of wheeled-legged hybrid platforms in complex terrains.

Key words: wheeled-legged hybrid platform, complex terrain, single-rigid-body dynamic model, hybrid locomotion control

中图分类号:

TJ301

任晓磊, 刘辉, 韩立金, 陈前, 聂士达, 谢景硕, 崔山. 复杂地形下轮腿复合机动平台动态运动控制[J]. 兵工学报, 2024, 45(9): 2993-3003.

REN Xiaolei, LIU Hui, HAN Lijin, CHEN Qian, NIE Shida, XIE Jingshuo, CUI Shan. Dynamic Locomotion Control for Wheeled-legged Hybrid Platform in Complex Terrain[J]. Acta Armamentarii, 2024, 45(9): 2993-3003.

图/表 17

图1 轮腿复合机动平台结构示意图

Fig.1 Schematic diagram of the wheeled-legged hybrid platform

表1 系统主要参数

Table 1 Main parameters of the system

参数	数值
整车质量m_b/kg	60
大腿质量m_h/kg	3.5
小腿质量m_k/kg	1.5
车轮质量m_w/kg	2.4
大腿长度L₁/mm	300
小腿长度L₂/mm	290
车轮半径r/mm	100
外廓尺寸长:长L_b×宽L_w×高L_h/mm	850×350×260
关节峰值力矩 $τ h, k m a x$ (N·m)	144
车轮峰值力矩 $τ w m a x$ /(N·m)	24.8

表1 系统主要参数

Table 1 Main parameters of the system

参数	数值
整车质量m_b/kg	60
大腿质量m_h/kg	3.5
小腿质量m_k/kg	1.5
车轮质量m_w/kg	2.4
大腿长度L₁/mm	300
小腿长度L₂/mm	290
车轮半径r/mm	100
外廓尺寸长:长L_b×宽L_w×高L_h/mm	850×350×260
关节峰值力矩 $τ h, k m a x$ (N·m)	144
车轮峰值力矩 $τ w m a x$ /(N·m)	24.8

图2 坐标系定义

Fig.2 Definition of coordinate system

图3 X-Z平面单刚体动力学模型

Fig.3 Single rigid body dynamicsmodel in the X-Z plane

图4 混合运动控制架构

Fig.4 Hybrid locomotion control structure

图5 t=9.36s时平台以0.7m/s车速通过连续障碍物

Fig.5 The platform passing through continuous obstacles at a speed of 0.7m/s whent t=9.36s

表2 控制器设置

Table 2 Controller settings

名称	数值
控制量权重	10^-4
姿态角权重	1
垂向位移权重	20
纵向位移权重	0.1
线速度权重	1
K_P,q	0.7
K_D,q	0.025
K_P,w	0.12
K_l,w	0.008

图6 期望垂向位置规划

Fig.6 Desired vertical position planning

图7 质心纵向位置与纵向速度

Fig.7 Longitudinal position and longitudinal speed for the platform CoM

图8 质心垂向位置与垂向速度

Fig.8 Vertical position and vertical speed for the platform CoM

图9 质心侧倾角度与侧倾角速度

Fig.9 Roll angle and roll rate for the platform CoM

图10 质心俯仰角度与俯仰角速度

Fig.10 Pitch angle and pitch rate for the platform CoM

图11 两种控制模式下均方根误差对比

Fig.11 Comparison of RMSEs in two control methods

图12 轮-地接触垂向力估计值

Fig.12 Wheel-ground vertical force estimation

图13 关节力矩

Fig.13 Joint torque

图14 关节角度

Fig.14 Joint angle

图15 QP算法求解时间

Fig.15 Computing time of QP algorithm

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