Optimal Control of Posture Adjustment for Articulated Suspension Vehicle

doi:10.3969/j.issn.1000-1093.2019.11.002

Abstract

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

CLC Number:

TJ810.3⁺32

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.

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

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