崎岖山地环境履带机器人降维变系数控制方法研究

Control Method of Dimensionality Reduction Coefficient of Rugged Mountain Environment Catching Robot

针对崎岖山地环境下自走式履带机器人自走姿态波动大、跟踪精度低等问题,研究了三维崎岖路面履带机器人控制方法。通过分析机器人在二维平整路面与三维崎岖路面的运动学模型,建立了降维运动学几何模型;设计了一种基于降维变系数的滑模控制方法,实现三维崎岖路面履带机器人的运动控制,并进行了平整路面与崎岖路面的路径跟踪仿真与试验。仿真结果表明,平整路面仿真中,行驶方向误差逐渐减小并趋近于0,侧向位置误差在±0.2 m内波动,并可在1 s内完成姿态调整;崎岖路面仿真中,三轴位置误差均控制在±0.1 m范围内,同样可在1 s内完成姿态调整。路径跟踪田间试验结果表明,平整路面和崎岖路面机器人跟踪稳定后的横向误差分别为-2.9~8.8 cm、-14.3~21.5 cm,姿态误差分别控制在±2°、±5°内,能够满足实际跟踪需求。

Aiming at the problem of large fluctuation of the attitude and low tracking accuracy of the self-propelled crawler robot in the rugged mountainous environment,a three-dimensional rugged tracked robot control method was studied.The geometric model of dimensionality reduction kinematics was established by analyzing the kinematics model of the two-dimensional flat road and three-dimensional rugged road surface of the robot.Then,a sliding mode control method based on the dimensionality reduction coefficient was designed to realize the three-dimensional rugged road track.The motion control of the robot and the path tracking simulation and experiment of the smooth road surface and the rugged road surface were carried out.The simulation results showed that the driving direction error was gradually decreased and approached 0 in the smooth road simulation,the lateral position deviation fluctuated within±0.2 m,and the attitude adjustment can be completed within 1s;the three-axis position error in the rough road simulation was controlled in the range of±10 cm,the attitude adjustment can also be completed within 1s.Through the path tracking test of smooth road surface and rugged road surface,the lateral deviation after robot tracking stabilization was-2.9~8.8 cm and-14.3~21.5cm,respectively,and the attitude error was controlled within±2°and±5°,respectively,which satisfied the actual tracking demand.