无人作业运动平台的动态稳定性分析与失稳预测  

Dynamic Stability Analysis and Instability Prediction for an Unmanned Operation Mobile Platform

作　　者：刘翰泽 赵江波[1,2] 王军政[1,2] 汪首坤[1,2] 张新 LIU Hanze;ZHAO Jiangbo;WANG Junzheng;WANG Shoukun;ZHANG Xin(School of Automation,Beijing Institute of Technology,Beijing 100081;Key Laboratory of Servo Motion System and Control,Beijing Institute of Technology,Beijing 100081;SPIC Science and Technology Institute Co.,Ltd.,Beijing 102206)

机构地区：[1]北京理工大学自动化学院,北京100081 [2]北京理工大学伺服运动系统驱动与控制工信部重点实验室,北京100081 [3]国家电投集团科学技术研究院有限公司,北京102206

出　　处：《机械工程学报》2023年第13期68-78,共11页Journal of Mechanical Engineering

基　　金：群体协同与自主实验室开放基金课题资助项目(QXZ23013202)。

摘　　要：无人运动平台在复杂地形作业时面临致使倾翻失稳的危险因素,需要实时进行动态稳定性判定以及失稳预测,确保安全作业。现有失稳预测方法在抗干扰性、复杂环境适应性和超前性上存在不足。基于力角稳定裕度法,提出一种适用于无人作业运动平台的、不考虑与地面相互作用机理的稳定性分析方法,综合利用无人运动平台的结构、姿态和运动信息,得到倾翻稳定性的归一化标量表示,作为稳定性判据。针对失稳预测抗干扰能力不足、不够超前的问题,提出一种基于模糊推理的失稳预测方法。模糊推理包含基本规则集和扩展规则集,输入为稳定裕度及其变化率,输出为综合稳定性指标,经过对该指标的判定,给出预测结果。在四轮独立转向车和并联六自由度平台组成的无人运动平台上进行仿真和试验,结果表明提出的方法能实现对倾翻失稳的超前预测,并具有较强抗干扰能力。There are risk factors that lead to tip-over instability of unmanned platform in complex terrains,so it is necessary to make real-time dynamic stability judgment and instability prediction to ensure safe operation.The current instability prediction methods are deficient in anti-disturbance and adaptability to complex environment,and not in well advance.Based on the force-angle stability margin method,a stability analysis method is proposed for unmanned platform without considering the interaction mechanism with the ground.The structure,attitude and motion information of the unmanned platform are comprehensively used to obtain the normalized scalar representation of the tip-over stability,which is used as the stability criterion.Aiming at the problem of insufficient anti-disturbance ability and advancement of instability prediction,a method of instability prediction based on fuzzy inference is proposed.Fuzzy inference includes the basic rule set and the extended rule set.The input is stability margin and its gradient,and the output is a comprehensive stability index.After judging the index,the prediction result is given.The simulation and experiment are carried out on an unmanned mobile platform composed of a four-wheel independent steering vehicle and a parallel 6-DOF platform.The results show that the proposed method can achieve the advance prediction of tip-over instability and has strong anti-disturbance ability.

关 键 词：无人运动平台 倾翻稳定性 力角稳定裕度 模糊推理 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]