变高度双轮足平台自适应平衡控制算法设计

doi:10.3969/j.issn.1004-132X.2025.12.014

摘要/Abstract

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。

关键词: 双轮足平台, 可变高度, 积分控制, 自平衡算法

Abstract:

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.

Key words: dual-wheel-legged platform, variable height, integration control, self-balancing algorithm

中图分类号:

TP242

张雷, 杨聪楠, 李崴一, 赵一洁, 王晓聪. 变高度双轮足平台自适应平衡控制算法设计[J]. 中国机械工程, 2025, 36(12): 2920-2926.

Lei ZHANG, Congnan YANG, Weiyi LI, Yijie ZHAO, Xiaocong WANG. Design of Adaptive Self-balancing Control Algorithm for Variable Height Dual-wheel-legged Platforms[J]. China Mechanical Engineering, 2025, 36(12): 2920-2926.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2025.12.014

https://www.cmemo.org.cn/CN/Y2025/V36/I12/2920

图/表 14

图1 双轮足无人平台坐标系统示意图

Fig.1 The schematic diagram of the coordinate system for the dual-wheel-legged unmanned platform

图2 双轮足无人平台简化及质心偏移角示意

Fig.2 The simplified model of the dual-wheel-legged unmanned platform and the centroid offset angle illustration

图3 双轮足无人平台腿部机构运动学分析建模

Fig.3 The kinematic model of the leg mechanism of the dual-wheel-legged unmanned platform

表1 机构尺寸参数

Tab.1 The parameters of mechanism dimensional

	l₀	l₁	l₂	l₃	l₄
长度/m	0.1545	0.2	0.16	0.06	0.142

表2 车轮和车架尺寸

Tab.2 The dimensions of wheel and frame

参数部件	质量/kg	质心位置/m	转动惯量/（kg·m²）	参考坐标系
车架	3.84	（0.033， $-$ 0.025，0）	0.0397	o₀x₀y₀z₀
大臂	0.26	（0.001 831，0，0）	0.00183	o₁x₁y₁z₁
小臂	0.79	（0.008 323，0，0）	0.00169	o₂x₂y₂z₂
车轮	1.64	（0，0，0）	0.00284	o₃x₃y₃z₃

表2 车轮和车架尺寸

Tab.2 The dimensions of wheel and frame

参数部件	质量/kg	质心位置/m	转动惯量/（kg·m²）	参考坐标系
车架	3.84	（0.033， $-$ 0.025，0）	0.0397	o₀x₀y₀z₀
大臂	0.26	（0.001 831，0，0）	0.00183	o₁x₁y₁z₁
小臂	0.79	（0.008 323，0，0）	0.00169	o₂x₂y₂z₂
车轮	1.64	（0，0，0）	0.00284	o₃x₃y₃z₃

图4 质心位置及转动惯量随膝关节转角变化曲线

Fig.4 The curves of centroid position and moment of inertia versus knee joint rotation angle

图5 双轮足无人平台简化模型

Fig.5 The simplified model of dual-wheel-legged platform

图6 基于Simscape 的双轮足无人平台仿真模型

Fig.6 The Simulation model of the dual-wheel-legged unmanned platform based on simscape

图7 定高度自平衡实验及仿真结果

Fig.7 The curves of fixed-height self-balancing experiment and simulation

图8 双轮足无人平台变高度自平衡过程实验

Fig.8 The variable-height self-balancing process experiment of the dual-wheel-legged unmanned platform

图9 双轮足平台变高度自平衡实验及仿真结果

Fig.9 The variable-height of self-balancing experiment and simulation results of the dual-wheel-legged platform

图10 双轮足平台自平衡仿真结果

Fig.10 The self-balancing simulation results of the dual-wheel-legged platform

图11 双轮足平台纵向角速度响应仿真结果

Fig.11 The simulation results of longitudinal angular velocity response of the dual-wheel-legged platform

图12 双轮足平台变高度自平衡仿真结果

Fig.12 The simulation results of variable-height self-balancing of the dual-wheel-legged platform

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