基于重心动力学及虚拟模型的单腿平台运动控制

Motion Control of Single-leg PlatformBased on Centroidal Dynamics and Virtual Model

传统单腿平台控制方法仅关注机身的运动,较难适用于腿部重量较大的单腿平台运动的准确控制。在单腿平台运动学及重心动力学建模基础上,提出了融合重心动力学及虚拟模型的控制方法。在单腿平台运动过程分析基础上,运用Simulink与Adams对单腿平台竖直干扰过程及下落缓冲过程进行动力学仿真,并与虚拟模型控制算法进行对比。结果表明,基于重心动力学及虚拟模型的控制方法,能够极大提高单腿平台的控制效果。

The traditional single-leg platform control method only focuses on the motion of the torso,which is difficult to be applied to the accurate control of the single-leg platform with large weight leg.In this paper,based on the single-leg platform kinematics and centroidal dynamics modeling,a control method combining centroidal dynamics and virtual model method is proposed.Based on the analysis of motion process of the single-leg platform,the vertical interference process and the falling buffer process of the single-leg platform are simulated by Simulink and Adams,and comparisons are made with the virtual model control algorithm.The results show that the control method based on centroidal dynamics and virtual model can greatly improve the control effect of single-leg platform.