The invention discloses a four-wheel cooperative control method for a wheeled robot. The stability of movement of a wheeled robot can be kept. The method comprises the steps of under linear motion, determining virtual longitudinal resultant force added with virtual yawing moment required by the wheeled robot to track the expected longitudinal speed, distributing the virtual longitudinal resultantforce to each wheel, and further calculating driving moment of each wheel; judging whether the wheels slip or not, and controlling a non-slipping wheel by adopting the driving torque; for the slippingwheel, using a robust self-adaptive controller for controlling the rotating speed of the wheel, so that the slipping rate of the slipping wheel tracks a slipping rate threshold value; under the steering motion, calculating various forces by using a steering fuselage speed controller, optimally distributing the longitudinal force and the lateral force of each wheel by taking the minimum adhesion margin as a target, and converting the longitudinal force and the lateral force into expected rotating speeds and rotating angles of the wheels; inputting the expected rotating angle into a wheeled robot actuator to be controlled, and inputting the expected rotating speed into a robust self-adaptive rotating speed controller to obtain the driving torque of the wheels.
本发明公开了一种轮足机器人四轮协同控制方法,能够保持轮足机器人运动的稳定性。直线运动下,确定轮足机器人跟踪期望纵向速度所需的附加了虚拟横摆力矩的虚拟纵向合力,并分配到各轮,进而计算轮子的驱动力矩;判断轮子是否打滑,对于非打滑轮,采用该驱动力矩进行控制;对于打滑轮,则利用鲁棒自适应控制器进行轮子转速控制,使得打滑轮的滑移率跟踪滑移率阈值;转向运动下,利用转向的机身速度控制器计算各种力,以附着力裕度最小为目标优化分配各轮的纵向力和侧向力,并转换为轮子的期望转速和转角;期望转角输入轮足机器人执行器进行控制,期望转速输入鲁棒自适应转速控制器得到轮子的驱动力矩。
Four-wheel cooperative control method for wheeled robot
一种轮足机器人四轮协同控制方法
2020-10-09
Patent
Electronic Resource
Chinese
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