基于分层控制策略的六轮滑移机器人横向稳定性控制  

Lateral Stability Control of Six-wheeled Skid-steering Robot Based on Hierarchical Control Strategy

作　　者：于力率 苏晓杰[1] 孙少欣 焦春亭 YU Li-Shuai;SU Xiao-Jie;SUN Shao-Xin;JIAO Chun-Ting(School of Automation,Chongqing University,Chongqing 400044)

机构地区：[1]重庆大学自动化学院,重庆400044

出　　处：《自动化学报》2023年第7期1421-1432,共12页Acta Automatica Sinica

基　　金：广东省重点研发计划(2020B0909020001);国家自然科学基金(62173051,62103066,62003061);中国博士后科学基金(2021 TQ0392,2021M700592);重庆市技术创新与应用发展专项重点项目(cstc2021jscx-gksbX0030)资助。

摘　　要：六轮野外机器人通常体积庞大,难以建立其动力学模型.采用传统的速度控制方法很难保证机器人的横向稳定性.为解决这一问题,开展基于分层控制策略的六轮滑移机器人横向稳定性控制研究.首先分析整车受力情况,建立六轮滑移机器人的动力学模型.其次,设计基于分层控制策略的动力学控制器,其中上层为基于改进趋近律的滑模控制器,实现对期望横摆角速度的跟踪;下层为基于附着率最优的转矩分配控制器,该控制器可以保证机器人行驶的横向稳定性.最后,在不同工况下进行仿真实验,并搭建实验平台进行实物测试.结果表明设计的控制器可以有效提高机器人的横向稳定性.The six-wheeled outdoor robots are usually bulky and their dynamic models are difficult to obtain.Therefore it is difficult to guarantee the lateral stability of the robots by using traditional speed control methods.To solve this problem,this paper investigates the lateral stability control of a class of six-wheeled skid-steering robots based on a hierarchical control strategy.Firstly the dynamic model of the robots is established through thorough force analysis.Then a hierarchical control strategy is proposed in which a sliding mode controller based on the improved reaching law is designed for the upper layer to make the yaw speed track the desired rate.The torque distributor is designed for the second layer based on the optimal adhesion ratio to ensure the lateral stability of the robots.Finally,simulations are carried out under different conditions,and a test platform is built for experimental test.The results show that the hierarchical control strategy can effectively improve the lateral stability of the robots.

关 键 词：分层控制策略 横向稳定性 滑移转向 滑模控制 转矩分配 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]