CN116882096A - Wheel-leg type multi-mode unmanned platform vibration reduction control method, system and equipment - Google Patents
Wheel-leg type multi-mode unmanned platform vibration reduction control method, system and equipment Download PDFInfo
- Publication number
- CN116882096A CN116882096A CN202310885975.6A CN202310885975A CN116882096A CN 116882096 A CN116882096 A CN 116882096A CN 202310885975 A CN202310885975 A CN 202310885975A CN 116882096 A CN116882096 A CN 116882096A
- Authority
- CN
- China
- Prior art keywords
- wheel
- leg
- damping
- unmanned platform
- vibration reduction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009467 reduction Effects 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000013016 damping Methods 0.000 claims abstract description 108
- 230000033001 locomotion Effects 0.000 claims abstract description 100
- 230000004044 response Effects 0.000 claims abstract description 32
- 239000011159 matrix material Substances 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 210000002414 leg Anatomy 0.000 claims description 92
- 230000006870 function Effects 0.000 claims description 27
- 239000000725 suspension Substances 0.000 claims description 25
- 210000001503 joint Anatomy 0.000 claims description 22
- 210000004394 hip joint Anatomy 0.000 claims description 13
- 210000000629 knee joint Anatomy 0.000 claims description 13
- 238000010276 construction Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000002441 reversible effect Effects 0.000 claims description 4
- 210000000689 upper leg Anatomy 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005457 optimization Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005284 excitation Effects 0.000 description 3
- 239000013598 vector Substances 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Evolutionary Computation (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a wheel leg type multimode unmanned platform vibration damping control method, a system and equipment, and relates to the field of vibration damping control; according to an ideal virtual equivalent vibration reduction system, task requirements and key responses, constructing an objective function by taking spring stiffness and damping coefficients as variables to be optimized; determining an optimal spring rate and an optimal damping coefficient according to the objective function; constructing a wheel leg mechanism kinematic model; determining a foot end motion expression according to the wheel leg mechanism kinematic model; determining a motion Jacobian matrix according to the foot end motion expression; constructing an equivalent passive spring-damping vibration reduction system according to the optimal spring stiffness, the optimal damping coefficient, the foot end motion expression and the motion Jacobian matrix; and carrying out response tracking according to the equivalent passive spring-damping vibration attenuation system. The invention can improve the transportation efficiency and the driving stability of the wheel-leg type multi-mode unmanned platform.
Description
Technical Field
The invention relates to the field of vibration damping control, in particular to a wheel-leg type multi-mode unmanned platform vibration damping control method, system and equipment.
Background
The wheel-leg type multi-mode unmanned platform is an unmanned motorized platform combining a wheel-type motion mode and a leg-type motion mode. The platform is switched between different movement modes such as wheel type and leg type according to different environments, and the platform adopts the wheel type mode to rapidly run on a relatively flat road surface; in complex or irregular terrain, leg mode travel is employed. Compared with the traditional leg-foot unmanned platform, the wheel-leg multi-mode unmanned platform has higher speed and mobility, higher motion efficiency, stronger flexibility and stronger carrying capacity, and is an important development direction of unmanned mobile platforms in the future.
Although the wheel-leg type multi-mode unmanned aerial vehicle has remarkable advantages in terms of movement speed and stability, when the wheel-leg type multi-mode unmanned aerial vehicle runs through a bump, a pit or an uneven road surface in a wheel type state, the overall movement state and running performance of the wheel-leg type multi-mode unmanned aerial vehicle are still susceptible to vibration, and effects (such as higher sprung acceleration and overall posture change) generated by the vibration not only can reduce the running efficiency of the unmanned aerial vehicle, but also can damage precision elements such as moving parts and sensors of the unmanned aerial vehicle.
Aiming at the moment control of the joints of the wheel-leg multi-mode unmanned platform, a plurality of actuating elements such as hydraulic pressure are mainly installed at the joints of the wheel-leg, hydraulic pressure is generated by controlling an actuating mechanism, and moment is generated by multiplying a joint moment arm, so that the moment control of the joints of the wheel-leg is completed. However, this approach requires the addition of hydraulic actuating elements at the thigh and shank, increasing the mass of the leg piece. Meanwhile, when the wheel leg joint moves due to road surface excitation, the actuating force of the actuator at the joint is changed due to the change of the joint moment arm, so that the moment is not linearly changed, and the accurate control of the moment is not facilitated. Aiming at the problems of the change of the actuating force arm and the slower response of the hydraulic motor, the invention directly controls the moment at the joints of the wheel legs by adopting a mode of directly installing the actuating element at the joints.
For vibration damping control in the wheeled state of a wheel-legged multi-modal unmanned platform, existing methods typically mount passive damping and spring elements at the joints or equivalent locations, damping suspension vibrations through springs and damping. This approach increases the leg mass and reduces the mobility and rapidity of the wheel-leg unmanned platform in the foot-type state. The invention designs a wheel-leg type multi-mode unmanned platform vibration reduction control algorithm with ideal model reference, and the virtual spring and virtual damping equivalent are directly completed by controlling the torque of a joint motor, so that the vibration reduction control of the wheel-leg type multi-mode unmanned platform is completed.
The design problem of spring stiffness and damping coefficient during wheel-leg multi-mode unmanned platform vibration damping control is solved. In order to meet the requirements of movement travel and flexibility, the conventional wheel leg unmanned platform generally sets the rigidity and damping coefficient of a passive spring as a set value, and the method cannot meet the vibration reduction requirements of the wheel leg unmanned platform under different running conditions.
Disclosure of Invention
The invention aims to provide a wheel-leg type multi-mode unmanned platform vibration reduction control method, a system and equipment, which can improve the transportation efficiency and the running stability of the wheel-leg type multi-mode unmanned platform.
In order to achieve the above object, the present invention provides the following solutions:
a wheel-leg type multimode unmanned platform vibration damping control method comprises the following steps:
the driving module is arranged at a wheel leg joint of the wheel leg type multi-mode unmanned platform; the driving module is used for controlling moment output at the wheel leg joint to complete direct control of hip joint movement and knee joint movement of the wheel leg multi-mode unmanned platform;
taking the whole vehicle passive suspension vibration reduction system as an ideal reference model, and building an ideal virtual equivalent vibration reduction system of the wheel-leg type multi-mode unmanned platform; the whole-vehicle passive suspension vibration reduction system and the wheel-leg type multi-mode unmanned platform have the same size parameters, tire parameters, whole-vehicle mass and tire mass; the whole vehicle passive suspension vibration reduction system comprises: spring rate and damping coefficient;
according to an ideal virtual equivalent vibration reduction system, task requirements and corresponding key responses, constructing an objective function by taking spring stiffness and damping coefficients as variables to be optimized; determining the optimal spring stiffness and the optimal damping coefficient according to the objective function;
constructing a wheel leg mechanism kinematic model of the wheel leg multi-mode unmanned platform; determining a foot end motion expression according to the wheel leg mechanism kinematic model;
determining a motion Jacobian matrix according to the foot end motion expression;
constructing an equivalent passive spring-damping vibration reduction system according to the optimal spring stiffness, the optimal damping coefficient, the foot end motion expression and the motion Jacobian matrix;
and carrying out response tracking according to the equivalent passive spring-damping vibration attenuation system.
Optionally, according to the ideal virtual equivalent vibration reduction system, the task requirement and the corresponding key response, constructing an objective function by taking the spring stiffness and the damping coefficient as variables to be optimized, wherein the objective function specifically comprises the following steps:
wherein f (X) =λ 1 ·f 1 +λ 2 ·f 2 +...+λ n ·f n ，f 1 ,f 2 ,...,f n Lambda is the different key response 1 ,λ 2 ,...,λ n For weight values, according to task requirements, X is a variable to be optimized, k and c respectively represent spring stiffness and damping coefficients of front, rear, left and right four wheels, subscripts 1, 2, 3 and 4 respectively represent a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, f (X) is an objective function, g (X) and h (X) are equality constraint and inequality constraint, and subscripts j and k respectively represent that actual constraints are unequalA sequence number of the formula.
Optionally, the wheel leg mechanism kinematic model of the wheel leg multi-mode unmanned platform is constructed; and determining a foot end motion expression according to a wheel leg mechanism kinematic model, which specifically comprises the following steps:
establishing a reference coordinate system of each joint by adopting a Denavit-Hartenberg convention method according to a wheel-leg multi-mode unmanned platform;
and according to the reference coordinate system of each joint, adopting forward and reverse kinematics analysis on a two-link mechanism of the wheel leg configuration of the wheel leg type multi-mode unmanned platform to obtain a foot end movement expression.
Optionally, the foot end motion expression is:
wherein, x and y are foot end positions,for foot end velocity, a 1 And a 2 Respectively represent thigh and shank lengths, θ 1 And theta 2 Respectively represent the hip joint in a coordinate system X 0 -Y 0 And knee joint in coordinate system X 1 -Y 1 Lower rotation angle X 0 -Y 0 ，X 1 -Y 1 Respectively representing a hip joint coordinate system and a knee joint coordinate system.
Optionally, the determining the motion jacobian matrix according to the foot-end motion expression specifically includes:
wherein J is a motion Jacobian matrix.
Optionally, the constructing an equivalent passive spring-damping vibration attenuation system according to the optimal spring rate, the optimal damping coefficient, the foot-end motion expression and the motion jacobian matrix specifically includes:
[τ 1 ,τ 2 ]＝J T (F x +F y )；
wherein J is T Transpose of Jacobian matrix, F x ＝F k,x +F c,x For the resultant force of the foot ends in the longitudinal direction,for longitudinal spring force->Is a vertical spring force->Respectively the optimal longitudinal spring stiffness and the vertical spring stiffness, delta x and delta y are longitudinal wheel leg movement displacement and vertical wheel leg movement displacement, F y ＝F k,y +F c,y For the resultant force of the foot end vertical direction,for longitudinal damping force->C is a vertical damping force x And c y Longitudinal spring rate and vertical spring rate, respectively,/->And->For longitudinal wheel leg movement speed and vertical wheel leg movement speed, τ 1 And τ 2 For the calculated joint moment.
A wheel-leg multi-modal unmanned platform vibration damping control system, comprising:
the driving position determining unit is used for setting the driving module at a wheel leg joint of the wheel leg type multi-mode unmanned platform; the driving module is used for controlling moment output at the wheel leg joint to complete direct control of hip joint movement and knee joint movement of the wheel leg multi-mode unmanned platform;
the ideal virtual equivalent vibration reduction system building unit is used for building an ideal virtual equivalent vibration reduction system of the wheel-leg multi-mode unmanned platform by taking the whole vehicle passive suspension vibration reduction system as an ideal reference model; the whole-vehicle passive suspension vibration reduction system and the wheel-leg type multi-mode unmanned platform have the same size parameters, tire parameters, whole-vehicle mass and tire mass; the whole vehicle passive suspension vibration reduction system comprises: spring rate and damping coefficient;
the objective function construction unit is used for constructing an objective function by taking the spring stiffness and the damping coefficient as variables to be optimized according to the ideal virtual equivalent vibration reduction system, the task requirement and the corresponding key response; determining the optimal spring stiffness and the optimal damping coefficient according to the objective function;
the foot end motion expression determining unit is used for constructing a wheel leg mechanism kinematic model of the wheel leg type multi-mode unmanned platform; determining a foot end motion expression according to the wheel leg mechanism kinematic model;
the motion Jacobian matrix determining unit is used for determining a motion Jacobian matrix according to the foot end motion expression;
the equivalent passive spring-damping vibration reduction system construction unit is used for constructing an equivalent passive spring-damping vibration reduction system according to the optimal spring stiffness, the optimal damping coefficient, the foot end motion expression and the motion Jacobian matrix;
and the response tracking unit is used for carrying out response tracking according to the equivalent passive spring-damping vibration attenuation system.
A wheel-legged multi-modal unmanned platform vibration damping control device, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the wheel-leg type multi-mode unmanned platform vibration damping control method, system and equipment provided by the invention, according to an ideal virtual equivalent vibration damping system, task requirements and corresponding key responses, an objective function is constructed by taking spring stiffness and damping coefficient as variables to be optimized; determining the optimal spring stiffness and the optimal damping coefficient according to the objective function; the real-time control output of the optimal damping/spring force of the wheel-leg type multi-mode unmanned platform is realized by designing a whole vehicle response optimization objective function according to different actual requirements (such as rough roads and the like, mainly reducing vibration acceleration of a machine body, and mainly reducing pitching and camber angles when passing through a bulge or a pit), and optimizing by taking the virtual spring stiffness and the virtual damping coefficient of each wheel as optimization variables. According to the invention, when the wheel-leg type multi-mode unmanned platform is continuously excited by the uneven road surface, the response of an ideal vehicle suspension model vibration reduction system is tracked by applying control force/moment, so that the wheel-leg type multi-mode unmanned platform has the vibration reduction characteristic of a passive spring-damping system, thereby inhibiting the negative effect caused by the vibration of the vehicle body and improving the transportation efficiency and the running stability of the wheel-leg type multi-mode unmanned platform.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a wheel-leg multi-mode unmanned platform configuration provided by the invention;
FIG. 2 is a schematic flow chart of a vibration damping control method for a wheel-leg type multi-mode unmanned platform provided by the invention;
FIG. 3 is a schematic diagram of a vibration damping control method for a wheel-leg multi-mode unmanned platform according to the present invention;
FIG. 4 is a schematic diagram of a method for damping control of a wheel-leg multi-mode unmanned platform according to the present invention;
FIG. 5 is a schematic diagram of an actuation of a wheel-legged multi-modal unmanned platform;
FIG. 6 is a schematic diagram of a passive vibration damping system for the whole vehicle;
FIG. 7 is a schematic diagram of a kinematic model of a wheel leg mechanism;
fig. 8 is a schematic diagram of an equivalent passive spring-damper vibration reduction system.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a wheel-leg type multi-mode unmanned platform vibration reduction control method, a system and equipment, which can improve the transportation efficiency and the running stability of the wheel-leg type multi-mode unmanned platform.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the wheel-leg type multi-mode unmanned platform has two motion modes of leg motion and wheel motion, and when a vehicle brakes, the wheel-leg type multi-mode unmanned platform can complete bionic motion behaviors such as walking, climbing stairs and the like. When the unmanned platform moves in a wheel type state, when the unmanned platform runs through a pit, a bulge or an uneven road surface, a vibration reduction control method is required to be designed to reduce the vibration of the unmanned platform body, and the passing efficiency of the unmanned platform is improved. As shown in fig. 3 and 4, the present invention is composed of 3 parts: and (3) constructing a driving module, constructing an ideal model and designing vibration reduction control.
And (5) constructing a driving module. According to the mechanical arrangement structure of the wheel-leg type multi-mode unmanned platform, the selection of a driving mode is completed in combination with actual requirements, when the required actuating torque is large, the control torque is applied in a hydraulic transmission mode and the like, and when the required torque is small but the response accuracy requirement is high, the actuating torque is applied in a motor mode and the like. In the aspect of selecting a driving position, the invention adopts a mode of arranging a moment actuating element at a joint to complete the direct control of the joint moment of the unmanned wheel leg platform.
And (5) optimizing an ideal model. To achieve a virtual passive vibration damping design for a wheel-leg unmanned platform, parameters of the referenced ideal vibration model need to be determined. According to the invention, a whole-vehicle suspension vibration reduction system is taken as an ideal model, an objective function is built according to task requirements (attitude control, vibration acceleration, longitudinal acceleration and the like of a control platform) based on actual physical parameters (mass, inertia and the like of each part) of a wheel-leg unmanned platform system, the spring stiffness and the damping coefficient in the ideal model are taken as optimization variables, and an optimal ideal spring stiffness and damping coefficient are obtained in an optimization design mode, so that the establishment of an ideal wheel-leg whole-vehicle vibration reduction reference model is completed.
Damping control design. The wheel leg unmanned platform vibration reduction control takes an ideal passive spring-damping system as a reference model, and completes response tracking of the ideal model by controlling joint driving moment, thereby realizing virtual spring-damping vibration reduction design of the whole unmanned platform in a wheel type state. Firstly, performing kinematic analysis, completing unmanned platform kinematic modeling according to a wheel leg structure, and completing forward and reverse kinematic calculation according to a wheel leg motion mode, thereby obtaining a Jacobian matrix of the wheel leg unmanned platform system. And then, dynamically analyzing, namely distributing the required control moment to the joint moment output element according to the Jacobian matrix obtained by the kinematic analysis and combining the static/dynamic characteristics of the wheel leg system, so as to complete the equivalent structure of the wheel leg system to an ideal reference model and realize the design of the whole vehicle virtual spring-damping vibration reduction system of the wheel leg system.
As shown in fig. 2, the vibration damping control method for the wheel-leg type multi-mode unmanned platform provided by the invention comprises the following steps:
s101, arranging a driving module at a wheel leg joint of a wheel leg type multi-mode unmanned platform; the driving module is used for controlling moment output at the wheel leg joint to complete direct control of hip joint movement and knee joint movement of the wheel leg multi-mode unmanned platform.
The hydraulic actuating element has a large output force (moment) range, but has slower response, the motor actuating element has smaller output force (moment), but has quicker response, the wheel leg type multi-mode unmanned platform selected in the example has lighter overall mass and smaller required control force, so that the motor actuating element is selected as a driving mechanism to control moment output in order to ensure the control precision and the operation efficiency of joint moment.
In order to ensure the accuracy of the control moment, the motor is directly arranged at the wheel leg joint, and the direct control of the hip joint movement and the knee joint movement of the unmanned platform is completed by directly outputting the torque at the wheel leg joint, as shown in fig. 5.
S102, taking a whole vehicle passive suspension vibration reduction system as an ideal reference model, and building an ideal virtual equivalent vibration reduction system of a wheel-leg type multi-mode unmanned platform; the whole-vehicle passive suspension vibration reduction system and the wheel-leg type multi-mode unmanned platform have the same size parameters, tire parameters, whole-vehicle mass and tire mass; the whole vehicle passive suspension vibration reduction system comprises: spring rate and damping coefficient. The whole-vehicle passive vibration reduction system is shown in fig. 6, for the whole-vehicle passive suspension system, the size parameter and the tire parameter are consistent with the actual wheel-leg type multi-mode unmanned platform parameter, and the rest main parameters are the whole-vehicle mass M 0 Tyre mass m 0 Spring rate k 0 And damping coefficient c 0 Wherein the ideal whole vehicle mass M 0 And tire mass m 0 The mass M of the actual platform of the wheel-leg type multi-mode unmanned platform is equal to the mass M of the wheel-leg type multi-mode unmanned platform, B is the width of the vehicle body, and a and B are the lengths of the front shaft and the rear shaft.
Spring rate k of each suspension system 0 And damping coefficient c 0 According to the natural frequency f 0 And damping ratio ζ estimation value range, wherein:
in order to ensure the smoothness of the running process of the wheel leg system, the natural frequency should be 1-1.6 Hz, and the damping ratio should be 0.1-0.4. The natural frequency and damping ratio are selected in the recommended range according to the actual system, thereby obtaining the ideal reference model reference spring stiffness k 0 And damping coefficient c 0 Is a range of values.
S103, constructing an objective function by taking spring stiffness and damping coefficient as variables to be optimized according to an ideal virtual equivalent vibration reduction system, task requirements and corresponding key responses; and determining an optimal spring rate k from the objective function * And an optimal damping coefficient c * 。
The wheel-leg type multi-mode unmanned platform mainly performs tasks such as rapid long-distance stable transportation of articles and target searching in a wheel-type state, and under the task scene, the unmanned platform needs to pass through complex environmental terrains such as ruins, roads and fields. According to task requirements, when an unmanned platform passes through a random road surface such as grasslands and the like, in order to ensure the safety performance of precise components carried on the platform, the vibration reduction system mainly reduces the vertical vibration of the vehicle body, and the main index is the vertical acceleration of the vehicle body; when the unmanned platform runs through medium and large obstacles such as pits and steps, the vibration reduction system mainly maintains the motion posture of the vehicle body to ensure the stability of loading goods on the platform and the whole running, and main indexes are the pitch angle and the roll angle of the vehicle body. According to actual task demands, an optimization objective function is built according to key responses such as vehicle body vibration acceleration, pitch angle and roll angle.
The spring stiffness k and the damping coefficient c of each suspension of the built passive vibration reduction system of the whole vehicle are variables to be optimized, and under the given step excitation or random pavement excitation condition, the optimal ideal spring stiffness and the optimal ideal damping coefficient of each wheel leg are obtained in an optimal design mode, so that the establishment of an ideal reference model is completed.
S103 specifically comprises the following steps:
wherein f (X) =λ 1 ·f 1 +λ 2 ·f 2 +...+λ n ·f n ，f 1 ,f 2 ,...,f n Lambda is the different key response 1 ,λ 2 ,...,λ n For the weight value, according to task requirement, X is the variable to be optimized, k and c respectively represent the spring stiffness and damping coefficient of front, back, left and right four wheels, subscripts 1, 2, 3 and 4 respectively represent the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, f (X) is the objective function, and is the weighted combination of the optimization targets, such as sprung mass acceleration, vehicle body posture and the like, g (X) and h (X) are equality constraint and inequality constraint, such as the leg movement range, moment change rate limit and the like, and subscripts j and k respectively represent the serial numbers of the actual constraint inequality.
S104, constructing a wheel leg mechanism kinematic model of the wheel leg type multi-mode unmanned platform; and determining a foot end motion expression according to the wheel leg mechanism kinematic model.
S104 specifically comprises:
according to the wheel-leg multi-mode unmanned platform, a Denavit-Hartenberg convention method is adopted to establish each joint reference coordinate system, as shown in figure 5.
And according to the reference coordinate system of each joint, adopting forward and reverse kinematics analysis on a two-link mechanism of the wheel leg configuration of the wheel leg type multi-mode unmanned platform to obtain a foot end movement expression.
The foot end motion expression is:
wherein, x and y are foot end positions,for foot end velocity, a 1 And a 2 Respectively represent thigh and shank lengths, θ 1 And theta 2 Respectively represent the hip joint in a coordinate system X 0 -Y 0 And knee joint in coordinate system X 1 -Y 1 Lower rotation angle X 0 -Y 0 、X 1 -Y 1 And X 2 -Y 2 Respectively representing a hip joint coordinate system, a knee joint coordinate system and a wheel local coordinate system.
S105, determining a motion Jacobian matrix according to the foot end motion expression.
S105 specifically includes:
wherein J is a motion Jacobian matrix.
Let f= (F x ,F y ,F z ,n x ,n y ,n z ) T And (3) representing force and moment vectors of the foot end, and let tau represent moment vectors of corresponding joints, wherein the relation between F and tau is as follows:
τ＝J T F。
wherein J is T A transpose of the jacobian matrix is obtained for the kinematic analysis. The linear force required by the foot end and the moment required by the joint can be equivalently constructed through the expression.
And S106, constructing an equivalent passive spring-damping vibration reduction system according to the optimal spring stiffness, the optimal damping coefficient, the foot end motion expression and the motion Jacobian matrix.
And S107, performing response tracking according to the equivalent passive spring-damping vibration attenuation system.
S107 specifically includes:
[τ 1 ,τ 2 ]＝J T (F x +F y )。
wherein J is T Transpose of Jacobian matrix, F x ＝F k,x +F c,x For the resultant force of the foot ends in the longitudinal direction,for longitudinal spring force->Is a vertical spring force->Respectively the optimal longitudinal spring stiffness and the vertical spring stiffness, delta x and delta y are longitudinal wheel leg movement displacement and vertical wheel leg movement displacement, F y ＝F k,y +F c,y For the resultant force of the foot end vertical direction,for longitudinal damping force->C is a vertical damping force x And c y Longitudinal spring rate and vertical spring rate, respectively,/->And->For longitudinal wheel leg movement speed and vertical wheel leg movement speed, τ 1 And τ 2 For the calculated joint moment.
Will require the joint moment tau 1 ，τ 2 And the equivalent passive spring-damping vibration reduction system can be constructed after the output of the joint motor is distributed, and response tracking of an ideal whole vehicle passive suspension model is completed, so that the whole vehicle vibration reduction control system design of the wheel-leg unmanned platform is realized, and the design is shown in fig. 8.
As another specific embodiment, the wheel leg type multi-mode unmanned platform vibration reduction control system provided by the invention comprises the following components:
the driving position determining unit is used for setting the driving module at a wheel leg joint of the wheel leg type multi-mode unmanned platform; the driving module is used for controlling moment output at the wheel leg joint to complete direct control of hip joint movement and knee joint movement of the wheel leg multi-mode unmanned platform.
The ideal virtual equivalent vibration reduction system building unit is used for building an ideal virtual equivalent vibration reduction system of the wheel-leg multi-mode unmanned platform by taking the whole vehicle passive suspension vibration reduction system as an ideal reference model; the whole-vehicle passive suspension vibration reduction system and the wheel-leg type multi-mode unmanned platform have the same size parameters, tire parameters, whole-vehicle mass and tire mass; the whole vehicle passive suspension vibration reduction system comprises: spring rate and damping coefficient.
The objective function construction unit is used for constructing an objective function by taking the spring stiffness and the damping coefficient as variables to be optimized according to the ideal virtual equivalent vibration reduction system, the task requirement and the corresponding key response; and determining an optimal spring rate and an optimal damping coefficient according to the objective function.
The foot end motion expression determining unit is used for constructing a wheel leg mechanism kinematic model of the wheel leg type multi-mode unmanned platform; and determining a foot end motion expression according to the wheel leg mechanism kinematic model.
And the motion Jacobian matrix determining unit is used for determining a motion Jacobian matrix according to the foot end motion expression.
And the equivalent passive spring-damping vibration reduction system construction unit is used for constructing an equivalent passive spring-damping vibration reduction system according to the optimal spring stiffness, the optimal damping coefficient, the foot end motion expression and the motion Jacobian matrix.
And the response tracking unit is used for carrying out response tracking according to the equivalent passive spring-damping vibration attenuation system.
In order to execute the method corresponding to the embodiment to realize the corresponding functions and technical effects, the invention also provides wheel-leg type multi-mode unmanned platform vibration reduction control equipment, which is characterized by comprising the following steps: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. A wheel-leg type multimode unmanned platform vibration reduction control method is characterized by comprising the following steps:
the driving module is arranged at a wheel leg joint of the wheel leg type multi-mode unmanned platform; the driving module is used for controlling moment output at the wheel leg joint to complete direct control of hip joint movement and knee joint movement of the wheel leg multi-mode unmanned platform;
taking the whole vehicle passive suspension vibration reduction system as an ideal reference model, and building an ideal virtual equivalent vibration reduction system of the wheel-leg type multi-mode unmanned platform; the whole-vehicle passive suspension vibration reduction system and the wheel-leg type multi-mode unmanned platform have the same size parameters, tire parameters, whole-vehicle mass and tire mass; the whole vehicle passive suspension vibration reduction system comprises: spring rate and damping coefficient;
according to an ideal virtual equivalent vibration reduction system, task requirements and corresponding key responses, constructing an objective function by taking spring stiffness and damping coefficients as variables to be optimized; determining the optimal spring stiffness and the optimal damping coefficient according to the objective function;
constructing a wheel leg mechanism kinematic model of the wheel leg multi-mode unmanned platform; determining a foot end motion expression according to the wheel leg mechanism kinematic model;
determining a motion Jacobian matrix according to the foot end motion expression;
constructing an equivalent passive spring-damping vibration reduction system according to the optimal spring stiffness, the optimal damping coefficient, the foot end motion expression and the motion Jacobian matrix;
and carrying out response tracking according to the equivalent passive spring-damping vibration attenuation system.
2. The wheel-leg multi-mode unmanned platform vibration damping control method according to claim 1, wherein the constructing an objective function by using spring stiffness and damping coefficient as variables to be optimized according to an ideal virtual equivalent vibration damping system, task requirements and corresponding key responses specifically comprises:
wherein f (X) =λ 1 ·f 1 +λ 2 ·f 2 +...+λ n ·f n ，f 1 ,f 2 ,...,f n Lambda is the different key response 1 ,λ 2 ,...,λ n For weight values, according to task requirements, X is a variable to be optimized, k and c respectively represent spring stiffness and damping coefficients of front, rear, left and right four wheels, subscripts 1, 2, 3 and 4 respectively represent a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, f (X) is an objective function, g (X) and h (X) are equality constraint and inequality constraint, and subscripts j and k respectively represent sequence numbers of actual constraint inequality.
3. The wheel leg type multi-mode unmanned platform vibration reduction control method according to claim 2, wherein a wheel leg mechanism kinematic model of the wheel leg type multi-mode unmanned platform is built; and determining a foot end motion expression according to a wheel leg mechanism kinematic model, which specifically comprises the following steps:
establishing a reference coordinate system of each joint by adopting a Denavit-Hartenberg convention method according to a wheel-leg multi-mode unmanned platform;
and according to the reference coordinate system of each joint, adopting forward and reverse kinematics analysis on a two-link mechanism of the wheel leg configuration of the wheel leg type multi-mode unmanned platform to obtain a foot end movement expression.
4. A wheel-leg multi-modal unmanned platform vibration damping control method according to claim 3, wherein the foot-end motion expression is:
wherein, x and y are foot end positions,for foot end velocity, a 1 And a 2 Respectively represent thigh and shank lengths, θ 1 And theta 2 Respectively represent the hip joint in a coordinate system X 0 -Y 0 And knee joint in coordinate system X 1 -Y 1 Lower rotation angle X 0 -Y 0 ，X 1 -Y 1 Respectively representing a hip joint coordinate system and a knee joint coordinate system.
5. The wheel-leg multi-modal unmanned platform vibration damping control method according to claim 4, wherein the determining the motion jacobian matrix according to the foot-end motion expression comprises:
wherein J is a motion Jacobian matrix.
6. The wheel-leg multi-mode unmanned platform vibration damping control method according to claim 5, wherein the constructing an equivalent passive spring-damping vibration damping system according to the optimal spring rate, the optimal damping coefficient, the foot-end motion expression and the motion jacobian matrix specifically comprises:
[τ 1 ,τ 2 ]＝J T (F x +F y )；
wherein J is T Transpose of Jacobian matrix, F x ＝F k,x +F c,x For the resultant force of the foot ends in the longitudinal direction,for longitudinal spring force->Is a vertical spring force->Respectively the optimal longitudinal spring stiffness and the vertical spring stiffness, delta x and delta y are longitudinal wheel leg movement displacement and vertical wheel leg movement displacement, F y ＝F k,y +F c,y For foot end vertical resultant force ++>For longitudinal damping force->C is a vertical damping force x And c y The longitudinal spring rate and the vertical spring rate,and->For longitudinal wheel leg movement speed and vertical wheel leg movement speed, τ 1 And τ 2 For the calculated joint moment.
7. A wheel-legged multi-modal unmanned platform vibration damping control system, comprising:
the driving position determining unit is used for setting the driving module at a wheel leg joint of the wheel leg type multi-mode unmanned platform; the driving module is used for controlling moment output at the wheel leg joint to complete direct control of hip joint movement and knee joint movement of the wheel leg multi-mode unmanned platform;
the ideal virtual equivalent vibration reduction system building unit is used for building an ideal virtual equivalent vibration reduction system of the wheel-leg multi-mode unmanned platform by taking the whole vehicle passive suspension vibration reduction system as an ideal reference model; the whole-vehicle passive suspension vibration reduction system and the wheel-leg type multi-mode unmanned platform have the same size parameters, tire parameters, whole-vehicle mass and tire mass; the whole vehicle passive suspension vibration reduction system comprises: spring rate and damping coefficient;
the objective function construction unit is used for constructing an objective function by taking the spring stiffness and the damping coefficient as variables to be optimized according to the ideal virtual equivalent vibration reduction system, the task requirement and the corresponding key response; determining the optimal spring stiffness and the optimal damping coefficient according to the objective function;
the foot end motion expression determining unit is used for constructing a wheel leg mechanism kinematic model of the wheel leg type multi-mode unmanned platform; determining a foot end motion expression according to the wheel leg mechanism kinematic model;
the motion Jacobian matrix determining unit is used for determining a motion Jacobian matrix according to the foot end motion expression;
the equivalent passive spring-damping vibration reduction system construction unit is used for constructing an equivalent passive spring-damping vibration reduction system according to the optimal spring stiffness, the optimal damping coefficient, the foot end motion expression and the motion Jacobian matrix;
and the response tracking unit is used for carrying out response tracking according to the equivalent passive spring-damping vibration attenuation system.
8. A wheel-legged multi-modal unmanned platform vibration damping control device, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310885975.6A CN116882096A (en) | 2023-07-19 | 2023-07-19 | Wheel-leg type multi-mode unmanned platform vibration reduction control method, system and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310885975.6A CN116882096A (en) | 2023-07-19 | 2023-07-19 | Wheel-leg type multi-mode unmanned platform vibration reduction control method, system and equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116882096A true CN116882096A (en) | 2023-10-13 |
Family
ID=88271232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310885975.6A Pending CN116882096A (en) | 2023-07-19 | 2023-07-19 | Wheel-leg type multi-mode unmanned platform vibration reduction control method, system and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116882096A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118070430A (en) * | 2024-04-18 | 2024-05-24 | 北京理工大学 | Wheel leg type vehicle leg structure parameter optimization method, device, medium and product |
-
2023
- 2023-07-19 CN CN202310885975.6A patent/CN116882096A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118070430A (en) * | 2024-04-18 | 2024-05-24 | 北京理工大学 | Wheel leg type vehicle leg structure parameter optimization method, device, medium and product |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3851302B1 (en) | Vehicle-mounted motion simulation platform based on active suspension, and control method therefor | |
| Buschmann et al. | Humanoid robot lola: Design and walking control | |
| US7251638B2 (en) | Intelligent robust control system for motorcycle using soft computing optimizer | |
| JP5219956B2 (en) | Control device for moving body | |
| CN108597058B (en) | Distributed driving electric vehicle state cascade estimation method based on pseudo measurement information | |
| Cordes et al. | Locomotion modes for a hybrid wheeled-leg planetary rover | |
| Reina et al. | On the mobility of all‐terrain rovers | |
| WO2007046568A1 (en) | A method for controlling the walk of humanoid robot | |
| CN116882096A (en) | Wheel-leg type multi-mode unmanned platform vibration reduction control method, system and equipment | |
| Alamdari et al. | Design of articulated leg–wheel subsystem by kinetostatic optimization | |
| He et al. | Design and control of tawl—a wheel-legged rover with terrain-adaptive wheel speed allocation capability | |
| Ni et al. | Parameters uncertainty analysis of posture control of a four-wheel-legged robot with series slow active suspension system | |
| CN116661293B (en) | Movement control method and system for wheel-leg type vehicle jumping obstacle | |
| Wei et al. | Reconfigurable design of a passive locomotion closed-chain multi-legged platform for terrain adaptability | |
| Ota et al. | Design and control of 6-DOF mechanism for twin-frame mobile robot | |
| Yao et al. | Design and analysis of a multi-mode mobile robot based on Schatz linkages | |
| Liu et al. | Integrated optimization design and motion control of multi-configuration unmanned metamorphic vehicle | |
| Ni et al. | Design and posture control of a wheel-legged robot with actively passively transformable suspension system | |
| US20210354508A1 (en) | Wheel arrangement | |
| CN117141177A (en) | Self-balancing control system and method for serial active suspension self-balancing carrier vehicle | |
| Zhang et al. | Design of agv chassis motion control system based on mworks | |
| Liu et al. | Development of Wheel-Legged Biped Robots: A Review | |
| Qian et al. | Dynamic balance control of two-wheeled self-balancing pendulum robot based on adaptive machine learning | |
| Zhao et al. | Compliant Motion Control of Wheel-Legged Humanoid Robot on Rough Terrains | |
| JP5232120B2 (en) | Control device for moving body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |