The invention provides a control method and device for an active suspension wheeled robot and computer equipment. The active suspension wheeled robot comprises a plurality of hubs, a plurality of hub motors, a plurality of suspension motors and a plurality of active suspension arms. The control method comprises the steps that the load torque of each hub motor is detected; according to a control algorithm and the load torque of each hub motor, adjusting parameters of suspension motors arranged corresponding to at least part of the hub motors are determined; the corresponding suspension motors are adjusted according to the adjusting parameters of the suspension motors arranged corresponding to at least part of the hub motors, so that the active suspension arms are correspondingly adjusted under the driving of the suspension motors, and then the load torque of the hub motors connected with the active suspension arms is balanced, so that the inclination and shaking of a vehicle body are reduced, and the safety of the vehicle body is improved. Therefore, the adaptive capacity and the obstacle crossing capacity of the wheeled robot to the terrain are improved.
本说明书提供一种用于主动悬挂轮式机器人的控制方法、装置及计算机设备,所述主动悬挂轮式机器人包括多个轮毂、多个轮毂电机、多个悬挂电机和多个主动悬挂臂。所述控制方法包括:检测每个轮毂电机的负载扭矩;根据控制算法和每个轮毂电机的负载扭矩,确定与至少部分轮毂电机对应设置的悬挂电机的调节参数;根据与至少部分轮毂电机对应设置的悬挂电机的调节参数,调节对应的悬挂电机,使所述主动悬挂臂在悬挂电机的驱动下作出相应调整,进而使与主动悬挂臂连接的轮毂电机的负载扭矩达到均衡,以减小车体倾斜和晃动,从而提高轮式机器人对地形的适应能力以及越障能力。
Control method and device for active suspension wheeled robot and computer equipment
用于主动悬挂轮式机器人的控制方法、装置及计算机设备
2024-01-09
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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