摇臂悬挂机动平台运动姿态调节最优控制研究

doi:10.3969/j.issn.1000-1093.2019.11.002

兵工学报 ›› 2019, Vol. 40 ›› Issue (11): 2184-2194.doi: 10.3969/j.issn.1000-1093.2019.11.002

摇臂悬挂机动平台运动姿态调节最优控制研究

韩子勇^1,2，苑士华¹，裴伟亚¹，李雪原¹，周俊杰¹

(1.北京理工大学车辆传动国家重点实验室, 北京 100081; 2.徐工集团江苏徐州工程机械研究院, 江苏徐州 221004)

收稿日期:2019-01-18 修回日期:2019-01-18 上线日期:2019-12-31
通讯作者: 苑士华（1958—），男，教授，博士生导师 E-mail:yuanshihua@bit.edu.cn
作者简介:韩子勇（1981—），男，工程师，博士研究生。E-mail: hanzy@bit.edu.cn
基金资助:
车辆传动国家重点实验室基金项目（61422130206）

Optimal Control of Posture Adjustment for Articulated Suspension Vehicle

HAN Ziyong^1,2, YUAN Shihua¹, PEI Weiya¹, LI Xueyuan¹, ZHOU Junjie¹

(1.Science and Technology on Vehicle Transmission Laboratory, Beijing Institute of Technology, Beijing 100081, China;2. Jiangsu Xuzhou Construction Machinery Research Institute, Xuzhou Construction Machinery Group, Xuzhou 221004, Jiangsu, China)

Received:2019-01-18 Revised:2019-01-18 Online:2019-12-31

摘要/Abstract

摘要： 摇臂悬挂机动平台运动自由度多且运动姿态调节复杂，以机构运动学控制为主的运动控制方法，不能准确描述驱动关节力矩与车体轨迹和姿态的关系。基于质心动力学模型和二次规划方法，建立了一种适用于轮腿复合移动类型车辆整体运动姿态调节的通用动态优化控制框架；以基于动力学模型的二次规划方法为主，结合系统逆运动学控制，实现了对车轮地面反作用力的直接控制。利用上述控制方法，对机动平台的侧倾、俯仰、联合姿态调节及其在颠簸路面下的应用进行仿真。结果表明，该动力学运动姿态调节动态优化控制方法能够满足实时性和控制精度的需求。

关键词: 摇臂悬挂机动平台, 运动姿态, 姿态调节, 最优控制, 质心动力学, 二次规划

Abstract: The motion control method mainly based on kinematics equations cannot accurately describe the relationship between the driving joint torque and the vehicle body trajectory and attitude because of the many degrees of freedom of motion and complex posture adjustment of articulated suspension vehicle. A general dynamic optimal control framework suitable for the overall posture adjustment of the leg-wheeled robot vehicle is established based on the centroidal dynamics model and the quadratic programming method. In the controller, the wheel-ground reaction force is directly controlled by using the quadratic programming method based on dynamic model and the inverse kinematics control. The above control method is used to simulate the posture adjustment of roll, pitch and composite attitude of articulated suspension vehicle and its application on bumpy road. The results show that the dynamic optimal control method of dynamic posture adjustment can meet the requirements of the real-time performance and control precision. Key

Key words: articulatedsuspensionvehicle, movingposture, postureadjustment, optimalcontrol, centroidaldynamics, quadraticprogramming

中图分类号:

TJ810.3⁺32

韩子勇，苑士华，裴伟亚，李雪原，周俊杰. 摇臂悬挂机动平台运动姿态调节最优控制研究[J]. 兵工学报, 2019, 40(11): 2184-2194.

HAN Ziyong, YUAN Shihua, PEI Weiya, LI Xueyuan, ZHOU Junjie. Optimal Control of Posture Adjustment for Articulated Suspension Vehicle[J]. Acta Armamentarii, 2019, 40(11): 2184-2194.

参考文献

［1］程刚. 非结构化环境中移动机器人系统越障运动机理的研究[D]. 合肥: 中国科学技术大学, 2006.
CHENG G. Research on the mechanism of obstacle movement of mobile robot system in unstructured environment[D]. Hefei: University of Science and Technology of China, 2006. (in Chinese)
[2］ GRAND C, BENAMAR F, PLUMET F. Motion kinematics ana-lysis of wheeled-legged rover over 3D surface with posture adaptation [J]. Mechanism and Machine Theory, 2010, 45(3): 477- 495.
[3］ GRAND C, AMAR F B, PLUMET F, et al. Stability and traction optimization of a reconfigurable wheel-legged robot[J]. International Journal of Robotics Research, 2004, 23(10/11): 1041-1058.
[4］ THOMSON T, SHARF I, BECKMAN B. Kinematic control and posture optimization of a redundantly actuated quadruped robot[C]∥Proceedings of the 2012 IEEE International Conference on Robotics and Automation. Saint Paul, MN，US: IEEE, 2012.
[5］ SUZUMURA A, FUJIMOTO Y. High mobility control for a wheel-legged mobile robot based on resolved momentum control[C]∥Proceedings of the IEEE International Workshop on Advanced Motion Control. Sarajevo, Bosnia and Herzegovina: IEEE, 2012.
[6］ GRAND C, JARRAULT P, AMAR F B, et al. Experimental
evaluation of obstacle clearance by a hybrid wheel-legged robot[C]∥Proceedings of the 14th International Symposium on Experimental Robotics. Marrakech and Essaouira, Morocco: Springer, 2016.
[7］ MORIHIRO Y, TAKAHASHI N, NONAKA K, et al. Model predictive load distribution control for leg/wheel mobile robots on rough terrain[J/OL]. IFAC-PapersOnLine, 2018, 51(22): 441-446. ［2019-01-10］. https:∥doi.org/10.1016/j.ifacol.2018.11.594.
[8］ CASTANO J A, HOFFMAN E M, LAURENZI A, et al. A whole body attitude stabilizer for hybrid wheeled-legged quadruped robots[C]∥Proceedings of the 2018 IEEE International Conference on Robotics and Automation. Brisbane, Australia: IEEE, 2018.
[9］ YOOL S, OH Y. Control for balance of legged-wheel hybrid robot (LWHR) by regulating ground reaction force with kinematic coupling[C]∥Proceedings of the 2018 IEEE International Conference on Mechatronics and Automation. Changchun, China: IEEE, 2018.

[10］孙鹏飞. 轮腿复合式机器人控制系统设计及越障分析[D]. 哈尔滨: 哈尔滨工业大学, 2011.
SUN P F. Control system design and obstacle-climbing analysis for a leg-wheeled robot[D]. Harbin: Harbin Institute of Technology, 2011. (in Chinese)
[11］石米娜. 基于压力控制的轮腿式越野车辆自适应液压主动悬架研究[D]. 长春：吉林大学, 2012.
SHI M N. Research on the adaptive hydraulic active suspension of a wheel-legged off-road vehicle based on the pressure control[D].Changchun: Jilin University, 2012. (in Chinese)
[12］王红梅. 复杂地形环境下新型轮腿复合式移动机器人控制系统研究[D]. 天津：河北工业大学, 2012.
WANG H M. Study on the control system of a new wheel-legged mobile robot in the rough terrain[D].Tianjin： Hebei University of Technology, 2012. (in Chinese)
[13］ NIU J Y, WANG H B, SHI H M, et al. Study on structural modeling and kinematics analysis of a novel wheel-legged rescue robot[J]. International Journal of Advanced Robotic Systems, 2018, 15(1):1-17.
[14］ GILLESPIE T D. 车辆动力学基础[M]. 赵六奇, 金达锋，译. 北京：清华大学出版社, 2006.
GILLESPIE T D. Fundamentals of vehicle dynamics[M].ZHAO L Q，JIN D F，transleted.Beijing：Tsinghua University Press, 2006. (in Chinese)
[15］ ORIN D E, GOSWAMI A, LEE S H. Centroidal dynamics of a humanoid robot [J]. Autonomous Robots, 2013, 35(2/3): 161-176.
[16］ SICILIANO B, KHATIB O. Springer handbook of robotics[M]. 2nd ed. Heidelberg, Germany: Springer, 2016.
[17］ KOOLEN T, BERTRAND S, THOMAS G, et al. Design of a momentum-based control framework and application to the humanoid robot Atlas[J]. International Journal of Humanoid Robotics, 2016, 13(1): 1650007.
[18］ BOYD S, VANDENBERGHE L. Convex optimization[M]. Cambridge，MA，US: Cambridge University Press, 2004.
[19］ SUZUMURA A, FUJIMOTO Y. Real-time motion generation and control systems for high wheel-legged robot mobility[J]. IEEE Transactions on Industrial Electronics, 2014, 61(7): 3648-3659.
[20］ FERREAU H J, KIRCHES C, POTSCHKA A, et al. qpOASES: a parametric active-set algorithm for quadratic programming[J]. Mathematical Programming Computation, 2014, 6(4): 327-363.

第40卷
第11期2019 年11月兵工学报ACTA
ARMAMENTARIIVol.40No.11Nov.2019

[1]	张成举，王聪，曹伟，王金强. 基于无迹卡尔曼滤波的超空泡航行体最优控制研究[J]. 兵工学报, 2019, 40(6): 1235-1243.
[2]	张舒阳，张豫南，宁克焱，颜南明，方青峰. 高速履带车辆制动能量与制动力分布规律预测方法研究[J]. 兵工学报, 2019, 40(5): 904-914.
[3]	刘嘉宇，李通通，余张国，陈学超，黄强. 多臂空间机器人操作大型目标的全身接触柔顺控制研究[J]. 兵工学报, 2019, 40(2): 395-403.
[4]	沈超，周克栋，陆野，乔自平. 某大口径机枪内膛损伤对弹头挤进过程的影响研究[J]. 兵工学报, 2018, 39(12): 2320-2329.
[5]	郭琨，杨树兴. 考虑导弹1阶驾驶仪的近似最小加速度峰值导引律[J]. 兵工学报, 2018, 39(1): 83-93.
[6]	廖自力，项宇，刘春光，李嘉麒. 电传动装甲车辆混合动力系统功率流控制策略[J]. 兵工学报, 2017, 38(12): 2289-2300.
[7]	宁惠君，黄凯，王金龙，张成，陶如意，王浩. 子母弹燃气囊静态抛撒气囊破裂射流流场仿真分析[J]. 兵工学报, 2016, 37(1): 1-9.
[8]	黄中瑞，张剑云，周青松，牛朝阳. 匹配滤波器失配下的双基地多输入多输出雷达多目标角度估计[J]. 兵工学报, 2015, 36(8): 1487-1493.
[9]	陈琦，王中原，常思江. 带有落角约束的间接Gauss伪谱最优制导律[J]. 兵工学报, 2015, 36(7): 1203-1212.
[10]	张梦樱，唐乾刚，韩小军，张青斌，葛健全. 复杂约束条件下的再入轨迹迭代求解方法[J]. 兵工学报, 2015, 36(6): 1015-1023.
[11]	王辉, 林德福, 祁载康, 张頔. 扩展弹道成型末制导律特性分析与应用研究[J]. 兵工学报, 2013, 34(7): 801-809.
[12]	刘立栋, 张宇文. 基于浮力补偿的水下无人平台低速状态最优控制研究[J]. 兵工学报, 2013, 34(5): 644-648.
[13]	刘卫东，杨建华，李乐, 李翔宇. 基于控制性能优化的网络化控制系统设计[J]. 兵工学报, 2013, 34(11): 1484-1488.
[14]	李晖，伍清河. 空间关联系统的最优控制[J]. 兵工学报, 2010, 31(6): 685-691.
[15]	戴绍忠，汪渤. L2有界不确定性鲁棒最优控制意义下的惯导初始对准[J]. 兵工学报, 2008, 29(9): 1145-1148.

摇臂悬挂机动平台运动姿态调节最优控制研究

Optimal Control of Posture Adjustment for Articulated Suspension Vehicle

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价