Rocker and rocker arm type planet vehicle trajectory tracking coordination control method in soft and rugged terrains

A coordinated control and trajectory tracking technology, applied in vehicle position/route/height control, non-electric variable control, control/regulation system, etc.

Active Publication Date: 2020-05-15
山东省人工智能研究院 +1
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0003] At present, the planetary vehicle control at home and abroad usually studies the two problems separately, and has not effectively solved the problem of realizing the two mission goals at the same time.

Method used

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  • Rocker and rocker arm type planet vehicle trajectory tracking coordination control method in soft and rugged terrains
  • Rocker and rocker arm type planet vehicle trajectory tracking coordination control method in soft and rugged terrains
  • Rocker and rocker arm type planet vehicle trajectory tracking coordination control method in soft and rugged terrains

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Example Embodiment

[0017] Attached below figure 1 Attached image 3 The present invention will be further explained.

[0018] A rocker rocker type planetary vehicle trajectory tracking coordinated control method in soft and rugged terrain includes the following steps: a) Define the position information of the planetary vehicle in the world coordinate system as (x, y, z), the roll of the planetary vehicle Angle is , The pitch angle is ψ, the yaw angle is θ, the forward direction of the car body is the positive direction of the x-axis, and the positive direction of the z-axis is perpendicular to the car body. The car body coordinate system (x b ,y b ,z b ), the speed of the car body centroid in the car body coordinate system is (v bx ,v by ,v bz ), by formula Establish a three-dimensional kinematics model of the car body, where q is the position vector, q=(x,y,z), Is the result of the derivative operation of q, ω bz Is the angular velocity of the planetary vehicle rotating around the z axis of...

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Abstract

The invention discloses a rocker and rocker arm type planet vehicle trajectory tracking coordination control method in soft and rugged terrains. The method comprises: designing a kinetic model based on three-dimensional kinematics information on the basis of kinematics and kinetic analysis; designing an error augmentation system based on the model; designing a hybrid H2/H infinity-QP controller based on a system model; optimizing a problem by hierarchical solving, obtaining vehicle control input and wheel control input; calculating the wheel rotating speed control input through the force tracking controller in the speed mode, finally, through the input, guaranteeing that the tracking error is stabilized within an acceptable range in the track tracking process, meanwhile, distributing the control input of all the wheels in a coordinated mode, and the internal force loss between the wheels on the same side is reduced.

Description

technical field [0001] The invention relates to the technical field of planetary detection platform control, in particular to a trajectory tracking coordination control method of a rocker rocker type planetary vehicle in soft and rough terrain. Background technique [0002] When the planetary rover performs detection tasks on the soft and rugged surface of the planet, its motion controller is one of the core units of the entire system, and it is fundamental to determine whether the detection task can be successfully completed. The rocker rocker planetary car usually adopts a multi-wheel drive design configuration, which is a typical redundant control system. When moving in soft and rough terrain, the terrain is different, and the motion states of each wheel are different. The phenomenon of pushing and pulling occurs between the wheels, resulting in the loss of internal force between the wheels, which in turn consumes energy. At the same time, in the soft terrain, the existe...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0276G05D2201/0207
Inventor 陈超舒明雷王英龙刘辉周书旺
Owner 山东省人工智能研究院
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