基于姿态角的轮腿机器人驱动控制系统研究

Research on Driving Control System of Wheel-Legged Robot Based on Attitude Angle

中文关键词:  轮腿机器人  联合仿真  驱动控制  稳定性分析

英文关键词:wheel-legged robot  co-simulation  drive control  stability analysis

中文摘要:

      在城市楼道环境中，尤其在面对楼梯等障碍时，五星形轮腿式机器人具有越障能力强、控制简单的优势。为防止机器人在攀爬楼梯时出现较大偏航倾斜，通过仿真软件ADAMS 和Simulink中建立了五星形轮腿式机器人的整车动力学模型和PID速度控制模型。结果表明，该联合仿真控制模型能有效、快速地控制机器人速度，减小偏航角度，降低了研究和开发成本。将该驱动控制系统移植到原机器人系统中，并分析了机器人在本控制系统控制下攀爬楼梯等特殊情况下的稳定性能。

英文摘要:

      In the urban corridor environment,especially in the face of obstacles such as stairs,the five-star wheel-legged robot has the advantages of obstacle surmounting ability and simple control.In order to prevent the yaw tilt of the robot when climbing stairs,the vehicle dynamics model and the PID speed control model of the five-star wheel-legged robot were established by simulation software ADAMS and Simulink.The results show that the co-simulation simulation control model can effectively and quickly control the speed of the robot,reduce the yaw angle,and reduce the research and development costs.The drive control system was transplanted into the original robot system,and the stability performance of the robot under special case of climbing stairs was analyzed.