The invention provides a multi-joint coordination control method of a self-reconfigurable planet vehicle, and relates to the technical field of planet vehicles, the method comprises the following steps: obtaining vehicle body state data, including a rotation angle of an active rocker arm, wheel base reduction caused by rotation of the active rocker arm, an angular velocity of the active rocker arm and a rolling angular velocity of wheels; establishing a multi-joint motion constraint model according to the vehicle body state data, wherein the multi-joint motion constraint model comprises a vehicle body mass center position constraint model, a multi-joint motion coordination constraint model and a vehicle body differential steering motion stability constraint model; and performing multi-joint motion control on the self-reconfigurable planet vehicle according to the multi-joint motion constraint model. By establishing a multi-joint motion constraint model on three levels of vehicle body center-of-mass position, multi-joint motion coordination and vehicle body differential steering motion stability, motion coordination control of multiple joints in a vehicle body in a reconstruction process is realized; therefore, a mechanical mode conversion function and a multi-motion mode switching function of the self-reconfigurable wheeled mobile planet vehicle are realized.
本发明提供可自重构星球车的多关节协调控制方法,涉及星球车技术领域,该方法包括:获取车体状态数据,包括主动摇臂转动角度、主动摇臂转动引起的车轮轴距减小量、主动摇臂的角速度和车轮的滚动角速度;根据所述车体状态数据建立多关节运动约束模型,包括车体质心位置约束模型、多关节动作协调性约束模型和车体差速转向运动稳定性约束模型;根据所述多关节运动约束模型对所述可自重构星球车进行多关节运动控制。通过建立车体质心位置、多关节动作协调性和车体差速转向运动稳定性三个层面上的多关节运动约束模型,实现重构过程中对车体内部多关节的运动协调控制,从而实现可自重构轮式移动星球车的机械模态转换功能和多运动模式切换功能。
Multi-joint coordination control method for self-reconfigurable planet vehicle
可自重构星球车的多关节协调控制方法
2023-09-29
Patent
Electronic Resource
Chinese
European Patent Office | 2021
|NTIS | 1974
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