复杂地形下轮腿复合机动平台动态运动控制  

Dynamic Locomotion Control for Wheeled-legged Hybrid Platform in Complex Terrain

作　　者：任晓磊 刘辉[1,2] 韩立金 陈前[1] 聂士达 谢景硕 崔山 REN Xiaolei;LIU Hui;HAN Lijin;CHEN Qian;NIE Shida;XIE Jingshuo;CUI Shan(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;Institute of Advanced Technology,Beijing Institute of Technology,Jinan 250300,Shandong,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京理工大学前沿技术研究院(济南),山东济南250300

出　　处：《兵工学报》2024年第9期2993-3003,共11页Acta Armamentarii

基　　金：国家自然科学基金青年基金项目(52002212)。

摘　　要：复杂地形环境下质心参考轨迹的动态精确跟踪是保障轮腿复合机动平台稳定执行各项任务的关键。为提升平台的地形适应能力与位姿跟踪能力,提出一种动态运动控制策略。综合地形因素,建立包含车轮动力学的单刚体动力学模型,并通过近似简化将系统动力学模型转化为状态空间方程的标准形式。考虑车轮与腿部耦合运动,提出一种基于前馈力矩与反馈力矩的混合运动控制方法。通过二次规划算法求解最优地面反作用力,利用雅克比矩阵将作用力映射至关节以获取前馈力矩。为避免由环境引起的外部扰动造成系统无法在较短时间内完成优化计算,引入关节力矩反馈控制及时修正位姿跟踪误差,使系统能够快速准确地响应外部扰动,有效提高系统的鲁棒性和稳定性。仿真结果表明,新方法可有效提升平台在复杂地形下位姿动态跟踪精度,保障平台平稳运行,为复杂地形下轮腿复合机动平台的工程应用提供有力支撑。The dynamic and accurate tracking of the center-of-mass reference trajectory in complex terrain is crucial to ensure the stable execution of tasks for wheeled-legged hybrid platform.A dynamic locomotion control strategy is proposed to enhance the terrain adaptability and pose tracking capability of the platform.Taking into account terrain factors,a single rigid body dynamics model including wheel dynamics is established.The system dynamics model is then transformed into the standard form of state-space equations through an approximate simplification.Considering the coupled motion of the wheels and legs,a hybrid locomotion control method based on feedforward and feedback torques is introduced.The quadratic programming algorithm is used to solve the optimal ground reaction forces,and the Jacobian matrix is used to map these forces into the joints for feedforward torque generation.To address the external disturbances caused by the environment that may hinder the system's ability to perform optimization calculations in a short time frame,the joint torque feedback control is introduced to promptly correct the pose tracking errors.This enables the system to respond rapidly and accurately to the external disturbances,thus effectively improving its robustness and stability.Simulated results demonstrate that the proposed method significantly enhances the dynamic pose tracking accuracy of the platform in complex terrains,ensuring smooth platform operation.This method provides strong support for the engineering application of wheeled-legged hybrid platforms in complex terrains.

关 键 词：轮腿复合机动平台 复杂地形 单刚体动力学模型 混合运动控制 

分 类 号：TJ301[兵器科学与技术—火炮、自动武器与弹药工程]