The invention discloses a track chassis motion control method, which relates to the technical field of motion control, and comprises the following steps: establishing a kinematic model of a track chassis, analyzing motion characteristics of the track chassis, and determining influence factors; based on the kinematics model, a linear quadratic optimal control algorithm is adopted to perform motion control on the crawler chassis; solving an algebraic Riccati equation, constructing an optimal control law, and calculating to obtain a control quantity; and applying the calculated control quantity to a driving system of the crawler chassis to enable the chassis to move according to an expected path. According to the method, kinematic modeling is carried out on the crawler-type chassis, the kinematic characteristics of the crawler-type chassis are analyzed, and the accuracy of a kinematic model and a control strategy is achieved. By establishing a linearized kinetic model of the crawler chassis and designing an optimal controller by adopting an LQR method, accurate control on the movement of the crawler chassis is realized.
本发明公开了一种履带底盘运动控制方法,涉及运动控制技术领域,建立履带底盘的运动学模型,对履带底盘的运动特性进行分析,确定影响因素;基于所述运动学模型,采用线性二次型最优控制算法对履带底盘进行运动控制;求解代数Riccati方程,构建最优控制律,计算得到控制量;将计算出的控制量应用到履带底盘的驱动系统中,使底盘按照期望路径运动。本发明通过对履带式底盘进行运动学建模,分析履带底盘的运动特性,实现运动学模型和控制策略的准确性。通过建立履带底盘的线性化动力学模型,并采用LQR方法设计最优控制器,实现对履带底盘运动的精确控制。
Crawler chassis motion control method
一种履带底盘运动控制方法
2024-12-13
Patent
Electronic Resource
Chinese