The invention discloses a sensor-free wheel-legged vehicle contact force and disturbance calculation method, belongs to the field of intelligent manufacturing industry heavy robots, and solves the technical problem that sensor-free contact force of a heavy wheel-legged vehicle is difficult to observe. The method comprises the steps that S101, a robot dynamic model, a speed reducing mechanism transmission relation and a motor dynamic model are integrated; s102, determining friction interference in the integrated model, reducing or avoiding the use of an acceleration sensor so as to increase the observation precision, and correcting the integrated model; s103, building a load torque observer based on a load torque observation model of the PMSM end of the driving motor and the corrected integration model, wherein the load torque observer is used for estimating motor speed difference convergence; and S104, determining changes of linear momentum and angular momentum of the mass center of the whole vehicle according to the mass center dynamics principle, determining friction disturbance and contact force of wheel legs of the vehicle according to the changes of the linear momentum and the angular momentum, and solving the problem of observation of sensorless contact force of the heavy wheel-leg type vehicle.
本发明无传感器轮腿式车辆接触力和扰动计算方法,属于智能制造工业重型机器人领域,解决重型轮腿式车辆的无传感器接触力观测困难的技术问题。其包括S101:将机器人动力学模型、减速机构传动关系以及电机动力学模型进行整合;S102:整合后的模型中确定摩擦干扰,减少或避免加速度传感器的使用,以增加观测的精度,对整合后的模型进行修正;S103:基于驱动电机PMSM端的负载扭矩观测模型和修正后的整合模型搭建负载扭矩观测器,负载扭矩观测器用以估计电机转速差收敛;S104:根据质心动力学原理确定整车质心的线性动量以及角动量的变化,根据线性动量以及角动量的变化确定车辆轮腿的摩擦扰动和接触力,解决重型轮腿式车辆的无传感器接触力的观测问题。
Sensorless wheel-legged vehicle contact force and disturbance calculation method
无传感器轮腿式车辆接触力和扰动计算方法
2022-11-22
Patent
Electronic Resource
Chinese
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