The invention discloses a motion control method and system for variable wheelbase speed difference steering of a wheel-legged vehicle, and relates to the technical field of robots. The method comprises the following steps: acquiring an expected longitudinal velocity and an expected yaw velocity; according to the path planning of the target wheel-legged vehicle, determining an expected movement track of a wheel center; calculating an expected joint rotation angle of a joint of the target wheel-legged vehicle; constructing a kinetic model of the target wheel-legged vehicle; according to the kinetic model and the expected yaw velocity, obtaining an expected additional yaw moment; the total driving force is obtained according to the expected longitudinal speed and the actual longitudinal speed; according to the expected joint rotation angle and the actual joint angle, the expected driving torque of the joint is calculated; according to the total driving force and the expected additional yawing moment, the expected driving moment of the wheels is calculated; and determining an optimal solution from the expected driving torques of the wheels to obtain the expected motor torques of the wheels. The steering efficiency of the wheel-legged vehicle can be improved.
本发明公开一种轮腿式车辆变轴距速差转向的运动控制方法及系统,涉及机器人技术领域。该方法包括:获取期望纵向速度和期望横摆角速度;根据目标轮腿式车辆的路径规划,确定车轮轮心的期望运动轨迹;解算目标轮腿式车辆的关节的期望关节转角;构建目标轮腿式车辆的动力学模型;根据动力学模型和期望横摆角速度,得到期望附加横摆力矩;根据期望纵向速度和实际纵向速度,得到总驱动力;根据期望关节转角和实际关节角度,计算关节的期望驱动力矩;根据总驱动力和期望附加横摆力矩,计算车轮的期望驱动力矩;从车轮的期望驱动力矩中确定最优解,得到车轮的期望电机转矩。本发明能够提升轮腿式车辆的转向效率。
Motion control method and system for variable wheelbase speed difference steering of wheel-legged vehicle
一种轮腿式车辆变轴距速差转向的运动控制方法及系统
2025-03-21
Patent
Electronic Resource
Chinese
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