关键词: 轮腿式平台, 二级作动单元, 集成柔顺控制, 状态估计

Abstract: As a new type of special vehicles, wheel-legged platforms (WLPs) extend the degrees of freedom at the wheel ends, offering high-speed mobility over complex terrain. However, the vertical–longitudinal coupled dynamics of the two-stage actuation unit and the unmeasurable states pose significant challenges for speed tracking and compliance control in terrain adaptation on uneven roads. To address these issues, this paper proposes an adaptive integrated compliance control method based on state estimation. First, forward and inverse kinematic models of the WLP are developed based on its diagram, and reference dynamic models for vertical suspension and longitudinal compliance are constructed using the virtual model approach. Then, an adaptive integrated compliance control framework in vertical–longitudinal directions is established. It incorporates longitudinal terminal sliding mode control, vertical optimal vibration control, and Kalman filtering to finally achieve speed tracking and terrain adaptation under a reference posture. Tests under various conditions validate the effectiveness of the proposed method. For example, the peak vertical acceleration under the bumpy road condition is less than 1.1 m/s2

Key words: wheel-legged platform, two-stage actuation unit, integrated compliance control, state estimation