The invention discloses a small crawler wheel wing combined type deformable land-air amphibious reconnaissance robot and a control method thereof. The robot adopts a crawler wheel wing integrated miniaturization design and comprises a control cabin, a left crawler wheel wing system and a right crawler wheel wing system, the crawler wheel wing systems are connected with the control cabin through steering engines, and a flight mode and a ground mode can be stably switched under the driving of the steering engines. In the flight mode, a flight motor of the crawler wheel wing system drives propellers to rotate at a high speed, lift force is provided, and air flight and attitude stability are achieved. In the ground mode, the crawler wheel wing system is adjusted to the ground contact position, the propellers stop working, the ground motor drives the crawler and the driving wheels through the gear set to provide advancing power, the driven wheels assist in supporting, and the stability and obstacle crossing ability in the complex terrain are enhanced. A multi-mode control method based on model predictive control is adopted for the robot, and the multi-mode control method is achieved by establishing control models of a flight mode and a ground mode, constructing a unified state-space equation and a predictive equation, designing a cost function, dynamically switching the control models and coordinating constraint conditions and control targets. And the trajectory tracking precision and the system stability of the robot in the flight mode and the ground mode are ensured.
本发明公开了一种小型履带轮翼复合式可变形陆空两栖侦察机器人及其控制方法。机器人采用履带轮翼一体化小型化设计,包括控制舱、左侧履带轮翼系统和右侧履带轮翼系统,履带轮翼系统通过舵机与控制舱连接,能够在舵机驱动下平稳切换飞行模式和地面模式。在飞行模式下,履带轮翼系统的飞行电机驱动螺旋桨高速旋转,提供升力,实现空中飞行及姿态稳定;在地面模式下,履带轮翼系统调整到地面接触位置,螺旋桨停止工作,地面电机通过齿轮组驱动履带和驱动轮提供前进动力,从动轮辅助支撑,增强复杂地形下的平稳性和越障能力。机器人采用基于模型预测控制的多模态控制方法,通过建立飞行模式与地面模式的控制模型,构建统一的状态空间方程和预测方程,设计代价函数,动态切换控制模型并协调约束条件和控制目标,确保机器人在飞行模式和地面模式下的轨迹跟踪精度和系统稳定性。
Small crawler wheel wing combined type deformable land-air amphibious reconnaissance robot and control method thereof
一种小型履带轮翼复合式可变形陆空两栖侦察机器人及其控制方法
2025-05-13
Patent
Electronic Resource
Chinese