摘要
轮足式平台在腿部结构末端安装驱动轮,兼具铺装路面的高通过性和越野路面的高机动性,平台变高度时重心位置的变化对稳定性影响较大。为增强变高度自适应能力,建立平台的动力学模型,并在平衡点处作线性化处理。根据线性化状态方程特点,基于积分控制原理扩张状态变量,建立了扩张后的状态空间模型。采用线性二次型调节器分层控制方法获得反馈控制律,搭建了仿真模型,试制了物理样机,开展了仿真及实验研究。结果表明,提出的反馈控制率能够很好地实现平台的自平衡,扩张的状态变量也能很好地平衡重心位置的变化,实现平台变高度自适应平衡控制。
A two wheel platform was equipped with drive wheels at the end of the leg structure,which had both high passability on paved roads and high maneuverability on off-road roads.In order to enhance the adaptive ability of the platform,the dynamics model of the platform was established,and linearized at the equilibrium point,according to the characteristics of the linearized equation of state,the state variables were expanded based on the principle of integral control,and the expanded state space model was established.The LQR(linear quadratic regulator)method was used to obtain the feedback control law,the simulation model was built,the physical prototype was trial-produced,and the simulation and experimental research were carried out.The results show that the proposed feedback control rate may well realize the self-balancing of the platform,and the expanded state variable may also well balance the change of the center of gravity position,and realize the adaptive equilibrium control of the platform variable heights.
作者
张雷
杨聪楠
李崴一
赵一洁
王晓聪
ZHANG Lei;YANG Congnan;LI Weiyi;ZHAO Yijie;WANG Xiaocong(College of Intelligence Science and Technology,National University of Defense Technology,Changsha,410073)
出处
《中国机械工程》
北大核心
2025年第12期2920-2926,共7页
China Mechanical Engineering
基金
湖南省自然科学基金(2022JJ30664)。
关键词
双轮足平台
可变高度
积分控制
自平衡算法
dual-wheel-legged platform
variable height
integration control
self-balancing algorithm
