Design of Adaptive Self-balancing Control Algorithm for Variable Height Dual-wheel-legged Platforms

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

Abstract

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

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

CLC Number:

TP242

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.

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.

Figures/Tables 14

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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