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基于混合线性方程调节器和比例导数控制的双脚轮式机器人的设计和控制

Yu Xu¹, Zhaoqiang Wang¹, Chenhui Lu¹

¹School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China.

Sensors (Basel, Switzerland)

|September 13, 2025

概括

这项研究引入了轮式双脚机器人 (WBRS) 的新控制方法,提高了它们在复杂地形上的适应能力. 集成的动态建模和层次控制系统提高了对外部干扰的稳定性.

科学领域:

机器人技术机器人技术机器人技术
控制系统工程控制系统工程
机械工程机械工程

背景情况:

轮式双脚机器人 (WBRS) 提供了腿式机器人的适应性和轮式机器人的效率的混合.
传统的WBRS控制系统受到简化模型的限制,这些模型忽视了头角和质量中心高度的动态变化.
这些局限性阻碍了在不平坦或复杂的地形上适应能力.

研究的目的:

为WBRS开发一个先进的建模和控制策略,解决传统方法的局限性.
为了提高轮式双脚机器人的地形适应性和控制强度.
为WBRS提供一种用于复杂地形适应性控制的新方法.

主要方法:

提出了一种集成的动态建模方法,包括头角和质量中心高度变化.
实现了具有线性正方体调节器 (LQR) 的等级控制系统,用于姿势平衡和车轮内电机控制.
使用比例导数 (PD) 控制和虚拟模型控制 (VMC) 来实现基于质量中心高度反的联合电机控制.

主要成果:

与传统方法相比,模拟实验显示了控制稳定性的显著改善.
拟议的几何动态合模型和LQR-PD混合控制有效地抑制了外界干扰导致的倾斜.
该方法成功地提高了WBRS在具有挑战性的地形上的自适应控制能力.

结论:

集成的动态建模和层次控制方法为复杂地形上的WBRS导航提供了强大的解决方案.
这种方法为提高轮式双脚机器人的性能和适应性提供了新的范式.
这些发现有助于在非结构化环境中运行的自主系统的进步.

关键词:

四个环节的结构结构.动力学分析动力学分析线性二次调节器 (LQR) 是一种线性二次调节器.运动控制器运动控制器有轮子的双脚机器人

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