串联式轮腿机器人姿态控制方法

doi:10.12382/bgxb.2024.0183

摘要/Abstract

摘要：

针对串联式四轮腿机器人精确控制姿态的问题,提出一种以无偏差模型预测控制为核心的运动控制框架。所涉及的模型为考虑机身、腿部和车轮的质量分布而建立的合成质心动力学模型,并且基于自抗扰控制思想,将模型的未建模特性视为扰动,建立扩张状态观测器对其进行估计和补偿;为解决姿态调节过程中车轮易滚动导致腿部外展的问题引入关节闭环控制,同时设计额外的车轮控制策略以辅助约束腿部状态。在串联式轮腿机器人上进行了硬件试验,研究结果表明,新的运动控制框架能够准确跟踪期望姿态信号,有效抑制地形扰动和外力扰动,确保机器人的行驶平稳性和抗干扰能力。

关键词: 串联式轮腿机器人, 姿态控制, 扩张状态观测器, 无偏差模型预测控制

Abstract:

To address the precise attitude control of a serial wheel-legged robot,a motion control framework with offset-free model predictive control as the core is proposed.Firstly,a concentrated center-of-mass dynamics model is established,which considers the mass distribution of body,legs,and wheels.Based on the concept of active disturbance rejection control,the unmodeled characteristics of the model are treated as disturbances,and an extended state observer is established to estimate and compensate for the unmodeled characteristics.Furthermore,the joint control is introduced to solve the problem that the wheels are easy to roll and cause leg abduction during attitude adjustment,and an additional wheel control strategy is designed to assist in constraining the leg state.The hardware experiments are conducted on the serial wheel-legged robot.The results show that the proposed motion control framework can accurately track the desired attitude signal,effectively suppress the terrain disturbances and external force disturbances,and ensure the driving stability and disturbance resistance capability of the robot.

Key words: serial wheel-legged robot, attitude control, extended state observer, offset-free model predictive control

中图分类号:

TJ301

谢景硕, 韩立金, 刘辉, 任晓磊, 侯泓钰, 商庆一. 串联式轮腿机器人姿态控制方法[J]. 兵工学报, 2025, 46(2): 240183-.

XIE Jingshuo, HAN Lijin, LIU Hui, REN Xiaolei, HOU Hongyu, SHANG Qingyi. Attitude Control Method of Serial Wheel-legged Robot[J]. Acta Armamentarii, 2025, 46(2): 240183-.

图/表 33

图1 串联式四轮腿机器人

Fig.1 Serial wheel-legged robot

表1 系统主要参数

Table 1 Main parameters of the system

参数	数值
整体质量m/kg	65
大腿质量m_h/kg	3
小腿质量m_k/kg	2.5
车轮质量m_w/kg	2.5
大腿长度l_h/m	0.3
小腿长度l_k/m	0.3

图2 腿部运动学分析示意图

Fig.2 Schematic diagram of leg kinematics analysis

图3 轮腿机器人坐标系定义

Fig.3 Coordinate system of wheel-legged robot

图4 运动控制框图

Fig.4 Motion control framework

图5 车轮控制策略

Fig.5 Wheel control strategy

图6 调整力矩作用示意图

Fig.6 Schematic diagram of assist torque effect

图7 坡度估计仿真场景

Fig.7 The slope estimation simulation scenes

图8 坡度估计仿真结果

Fig.8 The slope estimation simulation results

图9 俯仰扰动观测仿真结果

Fig.9 Simulated results of pitch disturbance observer

图10 侧倾扰动观测仿真结果

Fig.10 Simulated results of roll disturbance observer

图11 对比仿真场景

Fig.11 The comparative simulation conditions

图12 正弦信号激励仿真工况姿态角度

Fig.12 Attitude angles in sine signal simulation

图13 双边障碍仿真工况姿态角度

Fig.13 Attitude angles in bilateral handicap simulation

图14 单边障碍仿真工况姿态角度

Fig.14 Attitude angles in unilateral obstacle simulation

图15 冲击扰动仿真工况姿态角度

Fig.15 Attitude angles in impact disturbance simulation

图16 随机路面仿真工况姿态角度

Fig.16 Attitude angles in random road surface simulation

图17 姿态角度均方根误差对比

Fig.17 Comparison of attitude angles RMSEs

图18 轮腿机器人控制系统通信架构

Fig.18 Communication architecture of wheel-legged robot control system

图19 姿态调节工况俯仰角度

Fig.19 Pitch angle in attitude adjustment experiment

图20 姿态调节工况侧倾角度

Fig.20 Roll angle in attitude adjustment experiment

图21 障碍通过试验过程图

Fig.21 The process of passing through the obstacles

图22 双边障碍工况姿态角度

Fig.22 Attitude angles in bilateral handicap experiment

图23 单边障碍工况姿态角度

Fig.23 Attitude angles in unilateral obstacle experiment

图24 抗外部垂向扰动试验

Fig.24 Experiment for resistance to external vertical disturbance

图25 外部垂向扰动工况姿态角度

Fig.25 Attitude angles in vertical disturbance experiment

图26 外部垂向扰动工况扰动估计

Fig.26 Disturbance estimation in vertical disturbance experiment

图27 抗外部横向扰动试验

Fig.27 Experiment for resistance to external lateral disturbance

图28 外部横向扰动工况姿态角度

Fig.28 Attitude angles in lateral disturbance experiment

图29 外部横向扰动工况扰动估计

Fig.29 Disturbance estimation in lateral disturbance experiment

图30 抗外部纵向扰动试验

Fig.30 Experiment for resistance to external longitudinal disturbance

图31 外部纵向扰动工况姿态角度

Fig.31 Attitude angles in longitudinal disturbance experiment

图32 外部纵向扰动工况扰动估计

Fig.32 Disturbance estimation in longitudinal disturbance experiment

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