摘要
侧向速度控制是机动平台在三维空间中实现快速稳定行走的基础。由于运输四足步行机动平台对角步态行走过程中存在四足腾空相,机体在上升及下降阶段所对应的虚拟刚度变化较大,传统的侧向速度控制方法无法保证机动平台侧向行走稳定性。在四足步行机动平台运动学分析及虚拟模型控制方法阐述基础上,结合SLIP运动规律的分析,对传统控制方法进行改进,分别提出了考虑腾空速度、考虑腾空速度及平均速度的对角步态侧向速度控制方法,针对理想侧向速度为0及侧向存在运动需求两种情况分别进行了仿真研究,并对结果进行对比分析。结果表明考虑腾空速度及平均速度的对角步态侧向速度控制算法误差较小,较好的满足了对侧向速度的控制需求,证明了考虑腾空速度及平均速度的控制算法的有效性。
Lateral velocity control plays a basic role in the realization of vehicle’s fast walking. Due to the existence of transport walking vehicle’s flight phase, the change of virtual stiffness during the vehicle’s body in the process of rising and falling is big. As a result, the traditional lateral velocity control method cannot guarantee vehicle’s lateral stability. Based on the kinematics analysis of the quadruped walking vehicle and description of virtual model control method, combined with the analysis of motion law of the SLIP model, the improved run-trot gait lateral velocity control method that take the take-off speed into account, the take-off speed and the average speed, were presented respectively. Moreover, the simulation analyses were separately carried out in view of the two cases that the ideal lateral velocity is 0 and lateral movementexists. The results show that the error of the method considering the vehicle’s take-off speed and the average speed is small, and preferably meets the demand of the vehicle’s run-trot gait lateral speed control. And the effective of the control algorithm is proved.
作者
谭永营
晁智强
金毅
TAN Yong-ying;CHAO Zhi-qiang;JIN Yi(Department of Vehicle Engineering,Academy of Army Armored Forces,Beijing 100072,China)
出处
《计算机仿真》
北大核心
2019年第8期333-337,407,共6页
Computer Simulation
