Active compliant track joint of marine suspension tunnel inspection robot and control method
By using magnetorheological track joints and control methods, the adaptive deformation of the marine suspended tunnel inspection robot is realized, which solves the problems of adaptability and stiffness of existing track joints in complex marine environments and ensures the normal operation of the robot.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA MERCHANTS CHONGQING COMM RES & DESIGN INST
- Filing Date
- 2023-06-26
- Publication Date
- 2026-06-26
AI Technical Summary
The existing marine suspended tunnel inspection robots cannot adapt to large deformations in complex marine environments. Traditional rigid tracks cannot be adjusted, and the damping of flexible track joints cannot be adaptively controlled, resulting in insufficient structural adaptability and stiffness.
The track joint employs a magnetorheological track joint, which controls the morphological changes of the magnetorheological fluid through an excitation coil, actively adjusting the damping of the track joint to achieve adaptive deformation. Combined with sensors and a controller, the track attitude is adjusted in real time.
The structure adaptability and stability of the marine suspended tunnel inspection robot have been improved, enabling it to adaptively adjust in complex wave and current environments and ensuring the normal operation of the inspection robot.
Smart Images
Figure CN116690638B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of marine suspended tunnel technology, specifically to an active compliant track joint and control method for a marine suspended tunnel inspection robot. Background Technology
[0002] Straits serve as important shipping routes, but their natural formations, including geological ravines and turbulent ocean currents, also present significant barriers between land and islands, or between islands. Currently, besides ferries, there are three main modes of transportation across straits: ocean tunnels, sea-crossing bridges, and suspended ocean tunnels. Suspended tunnels, as a new type of cross-sea transportation, not only reduce construction difficulties but also minimize navigational disruption. They can effectively compensate for the shortcomings of sea-crossing bridges and ocean tunnels, or form integrated cross-sea transportation facilities that connect all three.
[0003] Monitoring personnel and traffic within suspended tunnels typically employs inspection robots. These robots are used to identify and provide early warnings of surface defects such as water leakage and cracks within the marine suspended tunnel. Their operating tracks are laid out on the inner wall of the suspended tunnel. However, the operating environment of marine suspended tunnels differs from that of conventional tunnels. They are directly exposed to ocean currents and waves, bearing complex loads, such as the combined loads of waves and currents, which exert forces on the structure in different directions. Furthermore, under specific flow field conditions, resonance may occur, leading to significant displacement and deformation at the tunnel's tube and joints. Therefore, the tracks within the joints of the suspended tunnel need to possess a certain degree of flexibility to accommodate the large deformations at the tunnel joints; such tracks are called compliant tracks. Compared to traditional rigid tracks, compliant tracks combine joint flexibility with adjustable flexibility, enabling them to adjust the track and ensure the operation of the inspection robot even when the marine suspended tunnel experiences large deformations due to waves, currents, and complex loads.
[0004] Currently, most tracks are rigidly connected, making rotation and sliding between tracks impossible and unsuitable for installation conditions within marine suspended tunnels. While current passive flexible track joints can adjust to some extent when large deformations occur in marine suspended tunnels due to wave and current loads, their joint damping cannot be adaptively adjusted according to external loads, resulting in poor structural adaptability and stiffness. Summary of the Invention
[0005] To address the shortcomings of existing technologies, this invention proposes an active compliant track joint and control method for a marine suspended tunnel inspection robot. The method actively adjusts the damping of the track joint to adapt to ocean wave and current loads of varying intensities, enabling the track attitude to undergo adaptive deformation under complex external conditions. This improves the structural adaptability and rigidity, ensuring the operation of the inspection robot.
[0006] In a first aspect, the present invention provides an active compliant track joint for a marine suspended tunnel inspection robot.
[0007] In the first feasible approach, the marine suspended tunnel inspection robot actively compliantly uses its track joints, including:
[0008] The magnetorheological track joint is connected to the track at both ends. The magnetorheological track joint includes a shell, a transmission device, and an excitation coil. A magnetorheological fluid encapsulation area is provided between the transmission device and the shell. The excitation coil is wound around the outside of the magnetorheological fluid encapsulation area.
[0009] In conjunction with the first feasible method, in the second feasible method, the transmission device is a transmission piston shaft, which is movably connected to the housing.
[0010] In the third possible implementation, in conjunction with the first feasible method, the transmission device consists of a transmission shaft and a bearing, with the transmission shaft being movably connected to the housing via the bearing.
[0011] In conjunction with the first feasible method, in the fourth feasible method, a sensor is installed inside the magnetorheological track joint, including a displacement sensor or an angle sensor.
[0012] In conjunction with the first feasible method, in the fifth feasible method, the active compliant track joint includes a battery and a controller, which are respectively connected to the excitation coil.
[0013] In conjunction with the fifth feasible method, in the sixth feasible method, the battery and controller are arranged in the track connected to the magnetorheological track joint.
[0014] Secondly, the present invention provides a method for controlling an active compliant track.
[0015] In the seventh feasible approach, the control method for the actively compliant orbital joint, based on the aforementioned actively compliant orbital joint of the marine suspended tunnel inspection robot, includes:
[0016] Acquire pose change information of magnetorheological track joints;
[0017] The current control strategy is obtained based on the pose change information;
[0018] The damping of the magnetorheological track joint is adaptively adjusted based on a current control strategy.
[0019] Combining the seventh feasible method, the eighth feasible method obtains the pose change information of the magnetorheological track joint, including:
[0020] Acquire the initial pose information of the magnetorheological track joint. If the initial pose information is within a preset range, reduce the damping within the magnetorheological track joint and reacquire the reference pose information.
[0021] The initial pose information and the parametric pose information are compared to obtain the pose change information of the magnetorheological track joint.
[0022] In conjunction with the seventh feasible method, the ninth feasible method obtains the current control strategy based on pose change information, including:
[0023] The changes in external wave and current load are obtained based on the pose change information. The changes in external wave and current load include whether the external wave and current load does not decrease, whether the external wave and current load decreases or stops.
[0024] Without reducing the external wave current load, the first driving current of the magnetorheological track joint is determined; the first driving current is used to reduce and adjust the damping within the magnetorheological track joint.
[0025] When the external wave load decreases or stops, the second driving current of the magnetorheological track joint is determined; the second driving current is used to increase and adjust the damping within the magnetorheological track joint.
[0026] In conjunction with the ninth feasible method, the tenth feasible method involves adaptively adjusting the damping of the magnetorheological track joint based on a current control strategy, including:
[0027] The excitation coil in the magnetorheological track joint is driven by the first driving current or the second driving current, so as to adjust the damping in the magnetorheological track joint by utilizing the change in the magnetic field of the excitation coil.
[0028] Reacquire the current pose change information of the magnetorheological track joint;
[0029] Determine the adaptation and adjustment of the magnetorheological track joint to external wave and current loads based on the current pose change information;
[0030] If the adaptation adjustment is not successful, continue to adjust the damping within the magnetorheological track joint until the magnetorheological track joint adapts to the external wave load.
[0031] As can be seen from the above technical solution, the beneficial technical effects of the present invention are as follows:
[0032] 1. The magnetorheological (MR) track joint includes an outer shell, a transmission device, and an excitation coil. A magnetorheological fluid encapsulation area is located between the transmission device and the outer shell. The excitation coil is wound around the outside of the magnetorheological fluid encapsulation area. By changing the magnetic field of the excitation coil, the morphology of the magnetorheological fluid within the encapsulation area is controlled, thereby altering the damping of the magnetorheological fluid. This allows the MR track joint to adaptively deform to varying degrees under wave and current loads of different intensities. In this way, the damping of the track joint is actively adjusted to adapt to ocean wave and current loads of different intensities, enabling the track attitude to adaptively deform under complex external conditions. This improves the structural adaptability and rigidity, thus ensuring the operation of the inspection robot.
[0033] 2. Furthermore, compared to the immutable attitude of rigid tracks, active compliant track joints can adaptively adjust the track in real time according to external loads. When the intensity of ocean wave and current loads increases, the track joint damping adaptively decreases, and conversely, the joint damping adaptively increases. This helps improve the adaptability and stability of the inspection robot's track system under wave and current load environments.
[0034] 3. By acquiring the pose change information of the magnetorheological track joint, a current control strategy is obtained. Based on this strategy, the damping of the magnetorheological track joint is adjusted, thereby achieving adaptive adjustment of the actively compliant track joint under wave and current loads, which improves the adjustment speed. Compared to traditional rigid tracks, the actively compliant track joint can measure the angle and displacement information of the track joint at any time and actively and adaptively adjust the damping of the magnetorheological track joint based on the measured results. This allows it to adapt to wave and current loads of varying intensities, further improving the adaptability and stability of the inspection robot's track system under complex wave and current loads in the ocean. Attached Figure Description
[0035] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.
[0036] Figure 1 This embodiment provides an active compliant track joint for a marine suspended tunnel inspection robot.
[0037] Figure 2 This embodiment provides another type of marine suspended tunnel inspection robot with an active compliant track joint.
[0038] Figure 3-a This is a schematic diagram illustrating the microscopic behavior of the magnetorheological fluid in the absence of a magnetic field, as provided in this embodiment.
[0039] Figure 3-bThis is a schematic diagram illustrating the microscopic behavior of the magnetorheological fluid under a magnetic field, as provided in this embodiment.
[0040] Figure 4-a This is a schematic diagram of the flow mode of the magnetorheological fluid provided in this embodiment;
[0041] Figure 4-b This is a schematic diagram of the shear mode of the magnetorheological fluid provided in this embodiment;
[0042] Figure 4-c This is a schematic diagram of the extrusion mode of the magnetorheological fluid provided in this embodiment;
[0043] Figure 5 This is a schematic diagram of a control method for an active compliant track joint provided in this embodiment;
[0044] Figure 6 A schematic diagram illustrating the control method for the active compliant track joint provided in this embodiment, showing the operation of the active compliant track joint.
[0045] Figure 7 A flowchart of a control method for an active compliant track joint provided in this embodiment;
[0046] Figure 8 This is a timing diagram of the control process of the active compliant track joint provided in this embodiment.
[0047] Figure label:
[0048] 1-Rail, 2-Housing, 3-Excitation coil, 4-Magnetorheological fluid encapsulation area, 5-Drive piston shaft, 6-Drive shaft, 7-Bearing, 8-Displacement sensor, 9-Angle sensor, 10-Battery, 11-Controller. Detailed Implementation
[0049] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.
[0050] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art. The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for implementation of the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. Unless otherwise stated, the term "a plurality of" means two or more. In this disclosure, the character " / " indicates an "or" relationship between the preceding and following objects. For example, A / B means: A or B. The term "and / or" describes an association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B. The term "corresponding" can refer to an association or binding relationship; A corresponding to B means that there is an association or binding relationship between A and B.
[0051] Combination Figure 1 and Figure 2 As shown, this embodiment provides an active compliant track joint for a marine suspended tunnel inspection robot, including: a magnetorheological track joint, with both ends connected to a track 1, and the magnetorheological track joint includes a shell 2, a transmission device, and an excitation coil 3. A magnetorheological fluid encapsulation area 4 is provided between the transmission device and the shell 2; the excitation coil 3 is wound around the outside of the magnetorheological fluid encapsulation area 4.
[0052] Optionally, a sensor is provided inside the magnetorheological track joint, including a displacement sensor or an angle sensor.
[0053] Optionally, the active compliant track joint includes a battery and a controller, which are respectively connected to the excitation coil.
[0054] Optionally, the controller is connected to the excitation coil via a current drive module.
[0055] Optionally, the current drive module, battery, and controller are arranged in the track connected to the magnetorheological track joint to avoid interference with the robot wheel assembly running above the track.
[0056] In some embodiments, the controller is an MCU (Microcontroller Unit), also known as a single-chip microcomputer or a microcontroller.
[0057] Combination Figure 1As shown, the magnetorheological track joint is a tension type, and the transmission device is a transmission piston shaft 5, which is movably connected to the outer casing 2. In the tension type magnetorheological track joint, the transmission piston shaft 5 adjusts the track by translation. The displacement sensor 8 and the excitation coil 3 are respectively arranged on the outer casing 2. The magnetorheological fluid encapsulation area 4 is located between the excitation coil 3 and the transmission piston shaft 5. The controller 11 is arranged in the track 1 connected to the magnetorheological track joint. The controller 11 controls the magnetic force of the excitation coil 3. The change in the magnetic force of the excitation coil 3 causes a change in the morphology of the magnetorheological fluid in the magnetorheological fluid encapsulation area 4, thereby causing the transmission piston shaft 5 to translate, realizing the active adjustment of the track.
[0058] Combination Figure 2 As shown, the magnetorheological track joint is torsional, with a drive shaft 6 and a bearing 7 as the transmission device. The drive shaft 6 is movably connected to the housing 2 via the bearing 7. In the torsional magnetorheological track joint, the drive shaft 6 twists in two directions via the bearing 7, thereby achieving track adjustment. An angle sensor 9 is positioned between the drive shaft 6 and the bearing 7. The excitation coil 3 is wound around the outside of the magnetorheological fluid and located within the U-shaped cavity of the drive shaft 6, which is connected to the magnetorheological fluid encapsulation area 4. The controller 11 is positioned within the track 1 connected to the magnetorheological track joint. The controller 11 controls the magnetic force of the excitation coil 3. Changes in the magnetic force of the excitation coil 3 cause changes in the morphology of the magnetorheological fluid within the magnetorheological fluid encapsulation area 4, thereby causing the drive shaft 6 to twist and achieving active track adjustment.
[0059] Optionally, the magnetorheological track joint is provided with a housing seal for sealing the housing.
[0060] In some embodiments, magnetorheological fluid is a smart material whose rheological properties change dramatically and rapidly upon exposure to an external magnetic field. It typically consists of micron-sized soft magnetic particles, a carrier fluid, and additives. Under the application of a magnetic field, its apparent viscosity can increase by several orders of magnitude instantaneously within milliseconds. At the microscopic level, the magnetic particles are orderly arranged along the direction of the magnetic field, forming magnetic chains, such as... Figure 3-b As shown, the macroscopic state exhibits mechanical properties similar to that of a solid, and within a certain range, the viscosity of the magnetorheological fluid increases with increasing magnetic field strength. Once the external magnetic field is removed, the magnetorheological fluid can revert to a flowing liquid state, such as... Figure 3-a As shown. Combined with Figure 4-a , 4-bAs shown in Figure 4-c, magnetorheological fluids include three transmission modes: flow mode, shear mode, and extrusion mode. The shear stress change of the magnetorheological fluid is continuous and reversible; that is, within a certain range, the shear stress increases continuously with the increase of the magnetic field strength. Two types of magnetorheological track joints for rotation (torsion) and translation (tension) are designed using the shear transmission mode of the magnetorheological fluid. By changing the damping of the track joint, the motion of all the above degrees of freedom can be adaptively controlled. The smaller the damping, the greater the joint extension or torsion under the same load, and vice versa.
[0061] In some embodiments, an external wave current load causes relative motion (torsion or tension) in the magnetorheological track joint. Simultaneously, an angle or displacement sensor located on the magnetorheological track joint detects the displacement or angle change and transmits the detection signal to the controller. After analysis, the controller outputs a command to adjust the current drive module to output different magnitudes of current, causing the excitation coil in the magnetorheological track joint to generate a change in the magnetic field. This is used to adjust the damping of the magnetorheological fluid encapsulation area in the magnetorheological track joint, thereby enabling the magnetorheological track joint to actively generate different torsional angles and tensile displacements to adapt to the real-time changing external wave current load.
[0062] Combination Figure 5 As shown, this embodiment provides a control method for an active compliant orbital joint, based on the aforementioned active compliant orbital joint of a marine suspended tunnel inspection robot, including:
[0063] Step S01: Obtain the pose change information of the magnetorheological track joint;
[0064] Step S02: Obtain the current control strategy based on the pose change information;
[0065] Step S03: Adjust the damping of the magnetorheological track joint according to the current control strategy.
[0066] Optionally, the pose change information includes angle information or displacement information.
[0067] In some embodiments, an adaptive damping control algorithm is used to adjust the damping of the track joint. The adaptive damping control algorithm includes: obtaining a current control strategy based on pose change information, and adaptively adjusting the damping of the magnetorheological track joint based on the current control strategy.
[0068] In some embodiments, the above-described control method for active compliant track joints is used to control the operation of the active compliant track joint, such as... Figure 6As shown. When a wave load occurs, the wave load acts directly on the magnetorheological track joint, causing the flexible joint of the levitation tunnel to deform and synchronously transfer the load to the magnetorheological track joint. Displacement or angle sensors detect the displacement or angle information of the magnetorheological track joint. The MCU processes the joint torsional angle or displacement information measured by the sensors and controls the current drive module to output current. The change in the current of the excitation coil causes a change in the magnetic field of the excitation coil. This leads to a change in the morphology of the magnetorheological fluid in the magnetorheological fluid encapsulation area, realizing the damping adjustment of the magnetorheological track joint, causing the magnetorheological track joint to produce angle / displacement changes, thereby obtaining new angle and displacement information. The sensors are then used to measure the new angle and displacement information for further adaptive adjustments.
[0069] Optionally, obtaining the pose change information of the magnetorheological track joint includes: obtaining the initial pose information of the magnetorheological track joint; if the initial pose information is within a preset range, reducing the damping within the magnetorheological track joint and re-obtaining the reference pose information; comparing the initial pose information and the parameter pose information to obtain the pose change information of the magnetorheological track joint.
[0070] In some embodiments, when a wave current load occurs, the flexible joint of the suspended tunnel deforms, synchronously transferring the load to the magnetorheological track. When the magnetorheological track joint detects a load change, the MCU processes the joint torsion and displacement information measured by the sensors and controls the current module to output a smaller current. At this time, the magnetic field of the excitation coil becomes smaller, and the ability of the magnetorheological fluid to resist shear deformation (damping) decreases. Therefore, the magnetorheological track joint will generate a larger amount of torsion and slip, that is, the track at both ends of the magnetorheological track joint can generate greater torsional or slip deformation to actively adapt to the external load.
[0071] Optionally, the current control strategy is obtained based on the pose change information, including: obtaining the change in external wave current load based on the pose change information, whereby the change in external wave current load includes no decrease in external wave current load, decrease in external wave current load, or cessation of external wave current load; determining a first driving current for the magnetorheological track joint when the external wave current load has not decreased; the first driving current is used to adjust the damping within the magnetorheological track joint by decreasing the damping; and determining a second driving current for the magnetorheological track joint when the external wave current load has decreased or cessation of external wave current load; the second driving current is used to adjust the damping within the magnetorheological track joint by increasing the damping.
[0072] When an increase in external load is detected, the output current of the current drive module of the magnetorheological track joint is reduced to obtain the first drive current. The first drive current reduces the magnetic field of the excitation coil, thereby reducing the damping of the magnetorheological fluid. The torsional angle and tensile displacement of the magnetorheological track joint increase under the action of wave current load. Conversely, the output current of the current drive module is increased to obtain the second drive current. The second drive current increases the magnetic field of the excitation coil, thereby reducing the damping of the magnetorheological fluid.
[0073] Optionally, the pose information includes displacement and angle values. The change in external wave-current load is obtained based on the pose change information, including: if the reference displacement value is greater than the initial displacement value or the reference angle value is greater than the initial angle value, it is determined that the external wave-current load has not decreased; if the reference displacement value is less than the initial displacement value or the reference angle value is less than the initial angle value, it is determined that the external wave-current load has decreased or stopped.
[0074] Optionally, the damping of the magnetorheological track joint is adaptively adjusted based on a current control strategy, including: driving the magnetorheological coils in the magnetorheological track joint according to a first driving current or a second driving current, so as to adjust the damping in the magnetorheological track joint by utilizing the magnetic field change of the magnetorheological coils; reacquiring the current pose change information of the magnetorheological track joint; judging the adaptation adjustment status of the magnetorheological track joint to the external wave and current load based on the current pose change information; and if the adaptation adjustment status is not adapted, continuing to adjust the damping in the magnetorheological track joint until the magnetorheological track joint adapts to the external wave and current load.
[0075] Combination Figure 7 As shown, in some embodiments, the control method for the active compliant orbital joint of the marine suspended tunnel inspection robot includes the following steps:
[0076] Step S11: By adjusting the magnetic field, set the initial damping γ0 of the magnetorheological track joint and the minimum allowable damping γ. LL .
[0077] Step S12: Under wave current load, the magnetorheological track joint undergoes instantaneous torsional or sliding deformation. At this time, the initial angle information of the magnetorheological track joint at time i is measured by the angle sensor as θ. i Alternatively, the initial displacement information of the magnetorheological track joint measured by the displacement sensor is X. i .
[0078] Step S13: At the same time, the MCU feeds back the measured angle data or displacement data to reduce the output current of the current drive module, so that the magnetic field inside the joint will become smaller and the magnetorheological fluid damping will decrease accordingly.
[0079] Step S14: Remeasure and obtain a set of reference angle information for the magnetorheological orbital joint at time i+1, which is θ. i+1 Or refer to displacement information X i+1 .
[0080] Step S15, for θ i+1 and θ i Compare, or compare with X i+1 and X i Compare; if θ i+1 ≤θ i Or X i+1 ≤X i This indicates that the wave-current load has decreased or stopped at this point, and step S16 is executed; if θ i+1 >θ i Or X i+1 >X i If the wave load intensity is not reduced or remains at its original level, then step S18 is executed.
[0081] Step S16: Increase the output current, thereby increasing the magnetorheological fluid damping γ.
[0082] Step S17: Determine whether γ is ≥ γ0. If yes, the entire "adjustment and adaptation" process ends. If γ < γ0, that is, the magnetorheological fluid damping has not yet recovered to the value γ0, then return to step S14 and continue to compare the data values measured by the sensor for the next set, increasing γ until γ ≥ γ0.
[0083] Step S18: Measure a new set of θ values while keeping γ constant. i+2 or X i+2 .
[0084] Step S19, for θ i+2 With θ i+1 , or, X i+2 With X i+1 Compare, if θ i+2 <θ i+1 Or X i+2 <X i+1 If θ i+2 ≥θ i+1 Or X i+2 ≥X i+1 If the wave load intensity is not reduced, then step S16 is executed.
[0085] Step S20: Reduce the damping γ of the magnetorheological fluid.
[0086] Step S21: Determine whether γ has reached the lower limit γ LL If not, return to step S19; if yes, the "adjustment and adaptation" process will not be performed again.
[0087] In some embodiments, the time for the magnetorheological track joint to undergo instantaneous torsional or sliding deformation is t1; the time for the sensor to directly measure the angle or displacement data of the track joint is t2; the MCU makes judgments and adjustments based on the angle or displacement data measured by the sensor; the time for the magnetorheological track joint to generate new damping and for the sensor to measure new angle or displacement data is t3; then the relationship between t1, t2, and t3 is as follows: Figure 8 As shown. By Figure 8 It can be seen that t1 < t2 < t3.
[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.
Claims
1. A control method for an active compliant track joint, characterized in that, The active compliant track joint of the marine suspended tunnel inspection robot includes: A magnetorheological track joint is connected to a track at both ends. The magnetorheological track joint includes a shell, a transmission device, and an excitation coil. A magnetorheological fluid encapsulation area is provided between the transmission device and the shell. The excitation coil is wound around the outside of the magnetorheological fluid encapsulation area. The control method for the active compliant track joint includes: Acquire pose change information of magnetorheological track joints; The current control strategy is obtained based on the pose change information; The damping of the magnetorheological track joint is adaptively adjusted based on the current control strategy. The current control strategy obtained based on pose change information includes: The changes in external wave and current load are obtained based on the pose change information. The changes in external wave and current load include whether the external wave and current load does not decrease, whether the external wave and current load decreases or stops. Without reducing the external wave current load, the first driving current of the magnetorheological track joint is determined; the first driving current is used to reduce and adjust the damping within the magnetorheological track joint. When the external wave load decreases or stops, the second driving current of the magnetorheological track joint is determined; the second driving current is used to increase and adjust the damping within the magnetorheological track joint.
2. The method according to claim 1, characterized in that, The transmission device is a transmission piston shaft, which is movably connected to the housing.
3. The method according to claim 1, characterized in that, The transmission device consists of a drive shaft and bearings, with the drive shaft being movably connected to the housing via the bearings.
4. The method according to claim 1, characterized in that, The magnetorheological track joint is equipped with a sensor, which includes a displacement sensor or an angle sensor.
5. The method according to claim 1, characterized in that, The active compliant track joint includes a battery and a controller, which are respectively connected to an excitation coil.
6. The method according to claim 5, characterized in that, The battery and the controller are arranged in a track connected to a magnetorheological track joint.
7. The method according to claim 1, characterized in that, Obtain the pose change information of the magnetorheological track joint, including: Acquire the initial pose information of the magnetorheological track joint. If the initial pose information is within a preset range, reduce the damping within the magnetorheological track joint and reacquire the reference pose information. The initial pose information and the parametric pose information are compared to obtain the pose change information of the magnetorheological track joint.
8. The method according to claim 1, characterized in that, The damping of the magnetorheological track joint is adaptively adjusted based on a current control strategy, including: The magnetorheological coils in the magnetorheological track joint are driven by the first driving current or the second driving current, so as to adjust the damping in the magnetorheological track joint by utilizing the change in the magnetic field of the excitation coil. Reacquire the current pose change information of the magnetorheological track joint; Determine the adaptation and adjustment of the magnetorheological track joint to external wave and current loads based on the current pose change information; If the adaptation adjustment is not successful, continue to adjust the damping within the magnetorheological track joint until the magnetorheological track joint adapts to the external wave load.