The invention discloses a motion platform and a control method of the motion platform, and relates to the technical field of automatic control. A two-wheel opposite distribution structure is adopted, an inverted pendulum control system is utilized, and superposition cooperative control of moment gyroscopes is controlled. Aiming at an existing ground mobile platform, in the prior art, the following three characteristics cannot be simultaneously and completely realized: mobility (smooth track following capability, passing capability and obstacle crossing capability); the flexibility is generally embodied by a turning radius, and the smaller the turning radius is, the more flexible is; stability (anti-interference capability, whether the product is easy to overturn); the three characteristics are mutually exclusive, and the third characteristic is certainly weakened if one or two of the three characteristics are met. According to the invention, autonomous mobility, flexibility and stability can be realized at the same time. Meanwhile, mobile control and application are decoupled, and adaptive development can be carried out according to different application requirements.
本发明公开了一种运动平台和运动平台的控制方法,涉及自动控制技术领域。采用两轮对向分布结构,利用倒立摆控制系统、控制力矩陀螺的叠加协同控制。针对现有地面移动平台,在现有技术下,无法“同时完全”实现如下三个特性:可移动性(平顺跟随轨迹的能力,通过能力,越障能力);灵活性(一般用转弯半径体现,转弯半径越小越灵活);平稳性(抗干扰能力,是否容易倾覆);这三个特性是“互斥的”,某一项或者两项特性的满足,势必导致第三个特性的削弱。本发明可同时实现自主可移动性、灵活性、稳定性。同时,通过将移动控制与应用解耦,能根据不同的应用需求进行适应性开发。
Motion platform and control method
一种运动平台和控制方法
29.11.2024
Patent
Elektronische Ressource
Chinesisch
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