CN109292019A - All-terrain vehicle active body gesture control method based on coaxial-type wheel leg structure - Google Patents
All-terrain vehicle active body gesture control method based on coaxial-type wheel leg structure Download PDFInfo
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- CN109292019A CN109292019A CN201811069778.2A CN201811069778A CN109292019A CN 109292019 A CN109292019 A CN 109292019A CN 201811069778 A CN201811069778 A CN 201811069778A CN 109292019 A CN109292019 A CN 109292019A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
A kind of all-terrain vehicle active body gesture control method based on coaxial-type wheel leg structure of the present invention, comprising: there are four wheels for all-terrain vehicle tool, are all made of coaxial-type wheel leg structure；The pressure value that computing unit obtains the wheel hub measured by wheel shaft pressure sensor continues to spend traveling in tempo if wheel does not meet with barrier；If the pressure value at a certain wheel shaft is greater than threshold value, then judge that the wheel meets with barrier, into attitude regulation obstacle detouring state, the movement of four wheels is controlled by optimal angle controller, the position of wheel is calculated in coaxial-type wheel leg kinematics of mechanism model, hub motor at rotation wheel reaches designated position, and optimal angle controller output control signal controls four large arm lifting motors and four wheels respectively.The present invention has extensive body gesture adjustable range, can cross the barrier greater than diameter of tyres, and can complete the specific actions such as stair climbing, and vehicle body gravity center shift amplitude is minimum, and crossing over blockage process is more steady.
Description
Technical field
The present invention relates to the automation field of vehicle, especially a kind of full landform based on coaxial-type wheel leg structure is carried
The active body gesture control method of platform.
Background technique
With the continuous improvement of China's industrial level, scientific and technological level and living standards of the people, multifunctional intellectual mobile platform,
The especially mobile carrying platform of full landform, is gradually applied among numerous industries, such as extraterrestrial detection, forest protection, resource exploration,
Mining activities, fire-fighting speedily carry out rescue work, the field disaster relief etc..Due to the influence of the factors such as landform, environment, weather, common repacking vehicle is cross-country
Scarce capacity is unable to all weather operations, although and extraordinary repacking vehicle cross-country power is extremely strong, have serious pollution to environment
And destruction, it is delivered with green instantly and green job concept is not inconsistent.And take into account cross-country power, maneuverability and low environment footprint
The full landform carrying platform of intelligent wheel leg structure can be well solved current problem, and it is important to play it in numerous areas
Effect.It therefore, is that numerous related fieldss are ground to the research of the complete intelligent coordinated control system of landform carrying platform of wheel leg mixed structure
The basis studied carefully and emphasis.
For surface car intelligent control and related fields, a series of technology of maturations has been developed, and new skill
Art is also with the quickening of electronic control system processing speed and the raising of reliability, continuous high speed development.In vehicle suspension system
Aspect of performance, the comfort and maneuverability of vehicle have always been considered as being conflicting two targets, however pass through control vehicle body
Posture can make the two design objects while get a promotion.Existing posture balancing controller reduces vehicle body in uneven road surface item
Pitching and inclination under part act, and improve road holding when Vehicular turn by reducing vehicle body centroid motion.However turning
To when make vehicle body towards curve inner side inclination be a kind of method for more effectively improving vehicle comfort and maneuverability.Based on actively
The active tilt technology of roll system is applied in Modern High-Speed track train.For surface car, pass through constraint
Hang dynamic deflection integral and differential mutually come keep vehicle body stablize, describe well active and semi-active suspension system reducing
The effect of vehicle body pitching and tilt angle.However during the Vehicular turn, keep vehicle body horizontality can not be substantially reduced by
The transverse acceleration and lateral load that centrifugal force effect generates shift the negative effect to safety, maneuverability and comfort.
For active tilt gesture stability, relevant research is few, and theoretical not deep enough.
In conclusion existing research shortcoming embodies are as follows: referred to although the gesture stability of surface car is studied in advance
Gesture stability is to the potentiality improved on vehicle performance, however numerous research concentrates on the angle of heel for passively reducing vehicle, and
It is not more initiative more positive whereabouts opposite direction movement, the influence of external force is resisted with the quality of vehicle itself.Even if a small amount of
Research touch active attitude control, but it is also relatively conservative.It is not clear enough to the explanation of optimum posture angular arrangements, to posture tune
Whole advantage is excavated not deep enough.And taking the photograph to the additional angular acceleration generated during pose adjustment and tyre dynamic load lotus
It is dynamic there is no specific solution to the adverse effect of comfortableness and security.
Summary of the invention
To solve the above problem in the prior art, the purpose of the present invention is overcome passive vehicle body appearance of the existing technology
State regulative mode is difficult to improve the problem of vehicle comfort and maneuverability, provides a kind of active attitude control method.
The present invention adopts the following technical scheme that:
All-terrain vehicle active body gesture control method based on coaxial-type wheel leg structure, comprising: all-terrain vehicle has four
A wheel, is all made of coaxial-type wheel leg structure, and coaxial-type wheel leg structure is respectively arranged with large arm lifting motor, hub motor and wheel
Axis pressure sensor, vehicle body are provided with the gyroscope of measurement car state parameter, are additionally provided with hub motor encoder, computing unit
With optimal angle controller；
Computing unit obtains the pressure value F0 of the current wheel hub measured by wheel shaft pressure sensor and by wheel hub electricity
The present speed R0 that machine encoder measures, and judged, the pressure value F0 at a certain wheel shaft > threshold pressure value F then judges
Whether wheel meets with barrier；
If wheel does not meet with barrier, continue to spend R0 traveling in tempo；
If pressure value F0 > threshold pressure value F at a certain wheel shaft, judge that the wheel meets with barrier, into posture tune
Obstacle detouring state is saved, the movement of four wheels is controlled by optimal angle controller；
When progress optimal angle controller determines control amount, gyroscope obtains this inclination being engraved under vehicle axis system
Current vehicle condition is passed in coaxial-type wheel leg kinematics of mechanism model, passes through coaxial-type wheel leg by angle, pitch angle and yaw angle
Kinematics of mechanism model be calculated it is left front, right before, left back, right rear wheel position, rotate wheel at hub motor reach
To designated position.
Optimal angle controller output control signal, controls four large arm lifting motors and four wheels respectively.
A wheel pose adjustment terminates at this time, obtains the vehicle-state of subsequent time, wheel shaft pressure sensor detects some vehicle
Wheel whether surmount obstacles at this time, if not surmounting obstacles, continue pose adjustment, until obstacle detouring success, obstacle detouring success after with
Former speed continues to travel.
Coaxial-type wheel leg kinematics of mechanism model is indicated by following mathematical expression:
Wherein, δRFor rear-wheel corner, βRFor rear-wheel side drift angle, V is with reference to spot speed, and c (s) is curvature；S is that vehicle is current
Position and ideal trajectory Г apart from nearest point,Along the speed of curve tangential direction as at this, y is vehicle rear wheel and s point
Lateral displacement deviation,As lateral movement velocity, θ are heading angle deviation,For yaw velocity, L is vehicle wheelbase, is
SimplifyFormula will be provided with two intermediate variables, respectively λ1With λ2。
Above-mentioned computing unit uses the corresponding position of four wheel future time instances of application matrix form calculus, calculation formula
It is as follows:
Y=CX+D1U+D2F
Wherein
X=[x1,x2,x3,x4]T
U=[u1,u2]T
F=[f1(x1,x3),f2(x2,x4)]T
Y=[y1,y2,y3,y4]T
M1 is front axle quality in formula, and m2 is rear axle quality, and k is spring rate, and c1 is system damping, and t is the time；
X is the input of system, and x1 is front left wheel input, and x2 is right front wheel input, and x3 is rear left wheel input, and x4 is
Right rear wheel input；Y is system output, and y1 is front left wheel output, and y2 is right front wheel output, and y3 is rear left wheel output,
Y4 is right rear wheel output；
U is system interference amount, and u1 is road interference, and u2 is crosswind interference；
A is sytem matrix, and B1, B2 are input matrix, and C is output matrix, and D1, D2 are direct transfer matrix, and F is and difference
Wheel inputs x1, x2, x3, and the relevant interference matrix of x4, they are the matrixes made by the structure and parameter of system；Parameter
Subscript T indicates transposition.
The control signal of optimal angle controller output is the operating voltage value U of four large arm lifting motors, coaxial-type wheel
For leg mechanism kinematics model according to the operating voltage value U output hub motor speed, calculation formula is as follows:
Wherein U is driving voltage, and I is rotor current, and R is rotor loop resistance, and φ is magnetic flux, and k is induced electromotive force
Constant, N are hub motor revolving speed, and L is winding inductance quantity, and i is electric current, and di/dt is the change rate of electric current.
By formula it is found that by adjusting the adjustable motor speed of motor control amount U, to adjust amount of spin.
The track algorithm of optimal angle controller is pid algorithm, calculates the pressure value at wheel shaft, meter using weighted root mean square
Calculate formula are as follows:
Wherein c1, c2, c3, c4 are respectively the pressure value at four wheel shafts, are calculatedValue is a threshold value.
Work as c1, c2, c3, any one of c4 is greater than the threshold valueThe wheel velocity is then reduced, prevents vehicle from toppling.
Compared with prior art the beneficial effects of the present invention are:
The present invention uses coaxial-type wheel leg structure, so that the control method has wider body gesture adjustable range.
Compared with traditional structure, passability is preferable, can cross the barrier greater than diameter of tyres, and can complete the specific actions such as stair climbing.
Since the large arm motion range of large arm lifting motor is greater than wheel diameter, a certain wheel can be raised to higher than wheel height
Degree.Stair climbing represents barrier then as the continuous obstacle of constant altitude, and judgment mode is consistent with aforementioned obstacle detouring.
The purpose of optimal angle controller of the invention is to guarantee that vehicle in crossing over blockage, makes vehicle body gravity center shift amplitude most
It is small, to avoid the tilting moment as caused by gravity center shift or moment resulting from sidesway.
Optimal angle controller calculates the pressure value at wheel shaft using weighted root mean square, is turned over by comparing different c values
The smallest c during more, i.e., pressure is minimum at wheel shaft, and crossing over blockage process is more steady.
Vehicle catenary motion relationship is reduced to height change and vehicle at four wheel shafts by optimal angle controller of the invention
Body gravity center shift is in a linear relationship.According to the difference of pressure value at four wheel shafts, reflect under current state at four wheel shafts
Acceleration a (F=Ma p=M/s F is pressure, and M is quality, and a is acceleration, and p is pressure measuring value at wheel shaft, and s is stress
Area), this also represents the size of four axle roll trend, can by making the value of its root mean square be in lower position always
To reduce the odds for situation of toppling.
The present invention is comprehensive to use large arm lifting motor and hub motor, controls bodywork height and four wheel legs and ground face contact
Point position, controls vehicle body best angle.Tracing control amount, i.e., under current ride height control target, optimal angle controller
Provide each large arm lifting motor voltage control quantity U1, U2, U3, U4；Then coaxial-type wheel leg kinematics of mechanism model provides wheel
Hub electric moter voltage control amount N1, N2, N3, N4.
Detailed description of the invention
Fig. 1 is a kind of flow chart of active body gesture control method based on coaxial-type wheel leg structure of the invention.
Specific embodiment
The present invention will be further described below with reference to the drawings:
Since wheel leg mixed structure automotive all-terrain platform center of gravity is higher with respect to common vehicle, and expensive measuring instrument is carried,
So having higher requirement to comfort, control stability and safety.
It is shown in Figure 1, a kind of all-terrain vehicle active body gesture control method based on coaxial-type wheel leg structure, packet
Include: there are four wheels for all-terrain vehicle tool, are all made of coaxial-type wheel leg structure, coaxial-type wheel leg structure is respectively arranged with large arm lifting
Motor, hub motor and wheel shaft pressure sensor, vehicle body are provided with the gyroscope of measurement car state parameter, are additionally provided with wheel hub electricity
Machine encoder, computing unit and optimal angle controller；
Computing unit obtains the pressure value F0 of the current wheel hub measured by wheel shaft pressure sensor and by wheel hub electricity
The present speed R0 that machine encoder measures, and judged, the pressure value F0 at a certain wheel shaft > threshold pressure value F then judges
Whether wheel meets with barrier；
If wheel does not meet with barrier, continue to spend R0 traveling in tempo；
If pressure value F0 > threshold pressure value F at a certain wheel shaft, judge that the wheel meets with barrier, into posture tune
Obstacle detouring state is saved, the movement of four wheels is controlled by optimal angle controller；
When progress optimal angle controller determines control amount, gyroscope obtains this inclination being engraved under vehicle axis system
Current vehicle condition is passed in coaxial-type wheel leg kinematics of mechanism model, is carried out by computing unit by angle, pitch angle and yaw angle
Comparison and calculating, obtain the corresponding position of four wheel future time instances.It is calculated by coaxial-type wheel leg kinematics of mechanism model
Arrive it is left front, right before, left back, right rear wheel position, rotate wheel at hub motor reach designated position.
Coaxial-type wheel leg kinematics of mechanism model is indicated by following mathematical expression:
Wherein, δRFor rear-wheel corner, βRFor rear-wheel side drift angle, V is with reference to spot speed, and c (s) is curvature；S is that vehicle is current
Position and ideal trajectory Г apart from nearest point,Along the speed of curve tangential direction as at this, y is vehicle rear wheel and s point
Lateral displacement deviation,As lateral movement velocity, θ are heading angle deviation,For yaw velocity, L is vehicle wheelbase, is
SimplifyFormula will be provided with two intermediate variables, respectively λ1With λ2。
Optimal angle controller output control signal, controls four large arm lifting motors and four wheels respectively；
A wheel pose adjustment terminates at this time, obtains the vehicle-state of subsequent time, wheel shaft pressure sensor detects some vehicle
Wheel whether surmount obstacles at this time, if not surmounting obstacles, continue pose adjustment, until obstacle detouring success, obstacle detouring success after with
Former speed continues to travel.
Above-mentioned computing unit uses the corresponding position of four wheel future time instances of application matrix form calculus, calculation formula
It is as follows:
Y=CX+D1U+D2F
Wherein
X=[x1,x2,x3,x4]T
U=[u1,u2]T
F=[f1(x1,x3),f2(x2,x4)]T
Y=[y1,y2,y3,y4]T
M1 is front axle quality in formula, and m2 is rear axle quality, and k is spring rate, and c1 is system damping, and t is the time；
X is the input of system, and x1 is front left wheel input, and x2 is right front wheel input, and x3 is rear left wheel input, and x4 is
Right rear wheel input；Y is system output, and y1 is front left wheel output, and y2 is right front wheel output, and y3 is rear left wheel output,
Y4 is right rear wheel output；
U is system interference amount, and u1 is road interference, and u2 is crosswind interference；
A is sytem matrix, and B1, B2 are input matrix, and C is output matrix, and D1, D2 are direct transfer matrix, and F is and difference
Wheel inputs x1, x2, x3, and the relevant interference matrix of x4, they are the matrixes made by the structure and parameter of system；
Subscript T above parameter means transposition.Transposition is a several scientific name word.From the point of view of intuitive, by all elements of A around
The ray of one article of 45 degree of lower right from the 1st column element of the 1st row make mirror-inverted to get to the transposition of A.
The control signal of optimal angle controller output is the operating voltage value U of four large arm lifting motors, coaxial-type wheel
For leg mechanism kinematics model according to the operating voltage value U output hub motor speed, calculation formula is as follows:
Wherein U is driving voltage, and I is rotor current, and R is rotor loop resistance, and φ is magnetic flux, and k is induced electromotive force
Constant, N are hub motor revolving speed, and L is winding inductance quantity, and i is electric current, and di/dt is the change rate of electric current.
By formula it is found that the adjustable motor speed of motor control amount U is adjusted, to adjust amount of spin.
The track algorithm of optimal angle controller is pid algorithm, calculates the pressure value at wheel shaft, meter using weighted root mean square
Calculate formula are as follows:
Wherein c1, c2, c3, c4 are respectively the pressure value that the measurement at four wheel shafts obtains, and are calculatedValue is one
Threshold value.
As discovery c1, c2, c3, any one of c4 is greater than the threshold valueIt can mean that wheel pressure is higher herein,
There is possibility of toppling, it is therefore desirable to reduce the wheel velocity, prevent vehicle from toppling.Optimal angle controller just reduces wheel speed
Degree, prevents vehicle from toppling.
The track algorithm of vehicle body optimal angle controller of the invention is pid algorithm, can prevent overshoot, it is ensured that should
Intact stability of the vehicle in crossing over blockage is prevented from swinging back or be turned on one's side.
PID controller (proportional-integral derivative controller) is a common feedback loop portion in Industry Control Application
Part is made of proportional unit P, integral unit I and differentiation element D.The basis of PID control is ratio control；Integration control can disappear
Except steady-state error, but overshoot can be can increase；Differential control can accelerate Great inertia system response speed and weaken overshoot trend.It is super
Tune amount (overshoot, or be maximum deviation) is one in control system dynamic performance index, is linear control system in rank
One index value of the response process curve i.e. step response curve analysis dynamic property that jump under signal input.
Claims (5)
1. a kind of all-terrain vehicle active body gesture control method based on coaxial-type wheel leg structure characterized by comprising complete
Landform vehicle tool is all made of coaxial-type wheel leg structure there are four wheel, coaxial-type wheel leg structure be respectively arranged with large arm lifting motor,
Hub motor and wheel shaft pressure sensor, vehicle body are provided with the gyroscope of measurement car state parameter, are additionally provided with hub motor volume
Code device, computing unit and optimal angle controller；
Computing unit obtains the pressure value F0 of the current wheel hub measured by wheel shaft pressure sensor and is compiled by hub motor
The present speed R0 that code device measures, and judged, the pressure value F0 at a certain wheel shaft > threshold pressure value F then judges wheel
Whether barrier is met with；
If wheel does not meet with barrier, continue to spend R0 traveling in tempo；
If pressure value F0 > threshold pressure value F at a certain wheel shaft, judges that the wheel meets with barrier, got over into attitude regulation
Barrier state is controlled the movement of four wheels by optimal angle controller；
When progress optimal angle controller determines control amount, gyroscope obtains this angle of heel being engraved under vehicle axis system, bows
Current vehicle condition is passed in coaxial-type wheel leg kinematics of mechanism model, passes through coaxial-type wheel leg mechanism by the elevation angle and yaw angle
Kinematics model be calculated it is left front, right before, left back, right rear wheel position, rotate wheel at hub motor reach finger
Positioning is set；
Optimal angle controller output control signal, controls four large arm lifting motors and four wheels respectively；
A wheel pose adjustment terminates at this time, obtains the vehicle-state of subsequent time, wheel shaft pressure sensor detect some wheel this
When whether surmount obstacles, if not surmounting obstacles, continue pose adjustment, until obstacle detouring success, with former speed after obstacle detouring success
Degree continues to travel.
2. the all-terrain vehicle active body gesture control method according to claim 1 based on coaxial-type wheel leg structure,
It is characterized in that, coaxial-type wheel leg kinematics of mechanism model is indicated by following mathematical expression:
Wherein, δRFor rear-wheel corner, βRFor rear-wheel side drift angle, V is with reference to spot speed, and c (s) is curvature；S is current vehicle position
With ideal trajectory Г apart from nearest point,Along the speed of curve tangential direction as at this, y is the cross of vehicle rear wheel and s point
To offset deviation,As lateral movement velocity, θ are heading angle deviation,For yaw velocity, L is vehicle wheelbase, for simplification
Formula will be provided with two intermediate variables, respectively λ1With λ2。
3. the all-terrain vehicle active body gesture control method according to claim 2 based on coaxial-type wheel leg structure,
It is characterized in that, the computing unit uses the corresponding position of four wheel future time instances of application matrix form calculus, calculates public
Formula is as follows:
Y=CX+D1U+D2F
Wherein
X=[x1,x2,x3,x4]T
U=[u1,u2]T
F=[f1(x1,x3),f2(x2,x4)]T
Y=[y1,y2,y3,y4]T
M1 is front axle quality in formula, and m2 is rear axle quality, and k is spring rate, and c1 is system damping, and t is the time；
X is the input of system, and x1 is front left wheel input, and x2 is right front wheel input, and x3 is rear left wheel input, after x4 is right
Wheel input；Y is system output, and y1 is front left wheel output, and y2 is right front wheel output, and y3 is rear left wheel output, and y4 is
Right rear wheel output；
U is system interference amount, and u1 is road interference, and u2 is crosswind interference；
A is sytem matrix, and B1, B2 are input matrix, and C is output matrix, and D1, D2 are direct transfer matrix, and F is and different wheel
X1, x2, x3 are inputted, the relevant interference matrix of x4, they are the matrixes made by the structure and parameter of system；The subscript of parameter
T indicates transposition.
4. the all-terrain vehicle active body gesture control method according to claim 3 based on coaxial-type wheel leg structure,
It is characterized in that, the control signal of optimal angle controller output is the operating voltage value U of four large arm lifting motors, coaxial-type wheel
For leg mechanism kinematics model according to the operating voltage value U output hub motor speed, calculation formula is as follows:
Wherein U is driving voltage, and I is rotor current, and R is rotor loop resistance, and φ is magnetic flux, and k is induction electric potential constant,
N is hub motor revolving speed, and L is winding inductance quantity, and i is electric current, and di/dt is the change rate of electric current.
5. the all-terrain vehicle active body gesture control method according to claim 4 based on coaxial-type wheel leg structure,
It being characterized in that, the track algorithm of optimal angle controller is pid algorithm, the pressure value at wheel shaft is calculated using weighted root mean square,
Calculation formula are as follows:
Wherein c1, c2, c3, c4 are respectively the pressure value at four wheel shafts, are calculatedValue is a threshold value；
Work as c1, c2, c3, any one of c4 is greater than the threshold valueThe wheel velocity is then reduced, prevents vehicle from toppling.
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| CN201811069778.2A CN109292019B (en) | 2018-09-13 | 2018-09-13 | All-terrain vehicle active body attitude control method based on coaxial wheel leg structure |
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| CN109941313A (en) * | 2019-04-17 | 2019-06-28 | 哈尔滨工业大学 | A kind of the induced electromotive force calculation method and device of unilateral side axle count sensor |
| CN112486167A (en) * | 2020-11-09 | 2021-03-12 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
| CN114578690A (en) * | 2022-01-26 | 2022-06-03 | 西北工业大学 | Intelligent automobile autonomous combined control method based on multiple sensors |
| CN114967722A (en) * | 2022-06-10 | 2022-08-30 | 北京理工大学 | Method for automatically crossing step obstacle of rocker arm type motorized platform |
| CN115795943A (en) * | 2022-11-10 | 2023-03-14 | 哈尔滨工业大学 | Fine evaluation method for driving comfort of highway bridge |
| CN115795943B (en) * | 2022-11-10 | 2023-06-13 | 哈尔滨工业大学 | Highway bridge driving comfort refined evaluation method |
| CN116902108A (en) * | 2023-09-14 | 2023-10-20 | 北京理工大学 | High-speed steering active roll control method and system applied to wheel-leg type vehicle |
| CN116902108B (en) * | 2023-09-14 | 2023-12-05 | 北京理工大学 | High-speed steering active roll control method and system applied to wheel-leg type vehicle |
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