Wheel-legged unmanned platform longitudinal-vertical control method, system and device

Abstract

The application discloses a longitudinal-vertical control method, system and device for a wheel-legged unmanned platform, and relates to the field of unmanned platform control. The method comprises the following steps: determining an equivalent passive damping system; constructing a longitudinal dynamics system of a wheel-legged system and a vertical dynamics model of the wheel-legged system; respectively acquiring longitudinal key responses and vertical key responses; establishing longitudinal control targets according to the longitudinal key responses; establishing vertical control targets according to the vertical key responses; determining a longitudinal-vertical control target function of the wheel-legged system; determining an active controller based on the longitudinal dynamics system of the wheel-legged system and the vertical dynamics model of the wheel-legged system by using an active control algorithm according to the target function; and equivalently converting the longitudinal active control force and the vertical active control force into joint torque of each wheel leg for control. The application can reduce the vibration negative effect of the unmanned platform caused by large road excitation, and improve the driving safety and stability of the wheel-legged unmanned platform.

Description

Technical Field

[0001] This invention relates to the field of unmanned platform control, and in particular to a longitudinal-vertical control method, system and device for a wheel-legged unmanned platform. Background Technology

[0002] Wheel-legged unmanned platforms possess exceptional flexibility and stability. With their ability to freely switch motion modes, wheel-legged unmanned platforms have broad application prospects in complex terrains such as cliffs, mountains, and deserts, performing tasks such as rescue operations, field surveys, and industrial inspections. However, when wheel-legged unmanned platforms travel at high speeds on wheels, vibrations and attitude changes caused by uneven road surfaces reduce their travel efficiency and damage high-precision components mounted on the vehicle. Especially when encountering rapid acceleration, braking, or traversing high obstacles (such as high steps or deep pits), the unmanned platform experiences significant vertical vibrations and pitch and roll movements, causing damage to critical moving parts and sensors, and reducing vehicle stability. In the longitudinal direction, drastic speed changes and tire misalignment further reduce stability and increase the risk of loss of control.

[0003] Existing technologies typically employ motor control strategies based on traditional quadrupedal unmanned platforms, controlling the longitudinal and vertical stability of the platform in legged mode. However, there is a lack of research on active control of the longitudinal and vertical motion of wheel-legged unmanned platforms in wheeled mode. One proposed vibration reduction control algorithm for wheel-legged unmanned platforms uses the vehicle's passive suspension system as an ideal reference model. This method controls the torque at each joint of the wheel-legs to track the response of the ideal equivalent passive damping system, thus constructing the equivalent passive damping system for the wheel-legged unmanned platform in the longitudinal and vertical directions. However, when encountering large road surface excitations (such as deep potholes or steps) or rapid acceleration and braking, this method results in significant vertical vibrations and pitch and roll movements for the unmanned platform, causing damage to critical moving parts and sensors and reducing vehicle efficiency. In the longitudinal direction, it causes drastic speed changes and tire misalignment, reducing driving stability and increasing the risk of loss of control. Summary of the Invention

[0004] The purpose of this invention is to provide a longitudinal-vertical control method, system, and device for wheel-legged unmanned platforms, which can reduce the negative vibration effects caused by large road surface excitation and improve the driving safety and stability of wheel-legged unmanned platforms.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] A longitudinal-vertical control method for a wheeled-legged unmanned platform includes:

[0007] Torque-actuated elements are arranged at the wheel-leg joints of the wheel-leg unmanned platform; and an equivalent passive vibration reduction system for the wheel-leg unmanned platform is determined; the equivalent passive vibration reduction system equates the longitudinal and vertical dynamics to a passive spring-damping system; the equivalent passive vibration reduction system uses an ideal vehicle suspension vibration reduction system as a reference model, and uses the spring stiffness and damping coefficient of each wheel leg as variables to be optimized to determine the optimal spring stiffness and optimal damping coefficient; the ideal model response tracking is achieved by controlling the joint driving torque;

[0008] Construct the longitudinal dynamics model and the vertical dynamics model of the wheel-leg system;

[0009] The longitudinal key response is obtained based on the longitudinal dynamics of the wheel-leg system; the vertical key response is obtained based on the vertical dynamics model of the wheel-leg system; the longitudinal key response is longitudinal vehicle speed, longitudinal acceleration, and wheel longitudinal position; the vertical key response is vehicle body vibration acceleration, wheel-leg angular displacement, and platform attitude angle; the platform attitude angle includes pitch angle and roll angle.

[0010] Establish vertical control objectives based on vertical critical responses; establish vertical control objectives based on vertical critical responses;

[0011] The longitudinal-vertical control objective function of the wheel leg is determined based on the longitudinal and vertical control objectives;

[0012] Based on the longitudinal-vertical control objective function of the wheel-leg system, an active control algorithm is adopted, and an active controller is determined based on the longitudinal dynamics model and the vertical dynamics model of the wheel-leg system. The active controller is used to calculate the longitudinal active control force and the vertical active control force for tracking the control target.

[0013] The longitudinal and vertical active control forces are equivalent to supplementary joint torques for each wheel leg for control.

[0014] Optionally, the construction of the longitudinal dynamics system and the vertical dynamics model of the wheel-leg system specifically includes:

[0015] Based on tire dynamics in the longitudinal direction, and with driving and braking torques as control inputs, a longitudinal dynamic system of the wheel-leg system is established;

[0016] In the vertical direction, based on the system's spring damping characteristics, a vertical dynamic model of the wheel-leg system is established using the vertical active motion force as the control input.

[0017] Optionally, determining the longitudinal-vertical control objective function of the wheel leg based on the longitudinal control objective and the vertical control objective specifically includes:

[0018] f = f1 + f2 + g1 + g2 + ... + g n ;

[0019] Where f is the longitudinal-vertical control objective function of the wheel leg, f1=ε1·ω1+ε2·ω2+...+ε k ·ω k For the longitudinal control target, ω1,ω2,...,ω k For the longitudinal critical responses, ε1,ε2,...,ε k These are the weighting coefficients for the key vertical responses. For vertical control targets, For the vertical critical response, κ1,κ2,...,κ J For the weighting coefficients of the vertical critical responses, g1, g2, ..., g n Hardware constraints.

[0020] Optionally, the step of controlling the longitudinal active control force and the vertical active control force by equating them to the supplementary joint torques of each wheel leg specifically includes:

[0021] [τ1′,τ2′]=J T (F x +F y );

[0022] Among them, F x For the required longitudinal active force, F y The required vertical active force, τ1′, is the calculated supplementary joint moment used to equivalently output the longitudinal and vertical active forces, J. T The transpose of the Jacobian matrix is ​​obtained for kinematic analysis.

[0023] Optionally, active control algorithms include PID control, optimal control, and model predictive control.

[0024] A longitudinal-vertical control system for a wheeled-legged unmanned platform includes:

[0025] An arrangement module is used to arrange torque-actuating elements at the wheel-leg joints of the wheel-leg unmanned platform; and to determine the equivalent passive vibration reduction system of the wheel-leg unmanned platform; the equivalent passive vibration reduction system equates longitudinal dynamics and vertical dynamics to a passive spring-damping system; the equivalent passive vibration reduction system uses an ideal whole vehicle suspension vibration reduction system as a reference model, and uses the spring stiffness and damping coefficient of each wheel leg as variables to be optimized to determine the optimal spring stiffness and optimal damping coefficient; and completes the ideal model response tracking by controlling the joint driving torque;

[0026] The dynamics model construction module is used to construct the longitudinal dynamics system and the vertical dynamics model of the wheel-leg system;

[0027] The key response acquisition module is used to acquire longitudinal key responses based on the longitudinal dynamics of the wheel-leg system and vertical key responses based on the vertical dynamics model of the wheel-leg system. The longitudinal key responses are longitudinal vehicle speed, longitudinal acceleration, and wheel longitudinal position. The vertical key responses are vehicle body vibration acceleration, wheel-leg angular displacement, and platform attitude angles. The platform attitude angles include pitch angle and roll angle.

[0028] The control target determination module is used to establish longitudinal control targets based on longitudinal critical responses and vertical control targets based on vertical critical responses.

[0029] The objective function determination module is used to determine the longitudinal-vertical control objective function of the wheel leg based on the longitudinal control objective and the vertical control objective;

[0030] The active control force determination module is used to determine the active controller based on the longitudinal-vertical control objective function of the wheel leg system and the active control algorithm, using the longitudinal dynamics model and the vertical dynamics model of the wheel leg system. The active controller is used to calculate the longitudinal active control force and the vertical active control force for tracking the control target.

[0031] The control module is used to convert the longitudinal active control force and the vertical active control force into equivalent supplementary joint torques for each wheel leg for control.

[0032] A longitudinal-vertical control device for a wheeled-legged unmanned platform includes: at least one processor, at least one memory, and computer program instructions stored in the memory, which implement the method when the computer program instructions are executed by the processor.

[0033] Optionally, the memory is a computer-readable storage medium.

[0034] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0035] The present invention provides a longitudinal-vertical control method, system, and device for a wheel-legged unmanned platform. Based on the ideal passive vibration reduction system already established on the wheel-legged unmanned platform, the longitudinal control targets are the horizontal position, speed, and acceleration of the wheels, while the vertical control targets are the vertical acceleration and attitude angle. An active control algorithm is adopted, with different drive elements as the execution structure to output longitudinal and vertical control forces / torques respectively. This achieves active control of the unmanned platform's movement in the longitudinal and vertical directions, further reducing the negative vibration effects caused by large road surface excitation, maintaining the attitude stability of the vehicle body and wheel-leg mechanism during movement, and improving the driving safety and stability of the wheel-legged unmanned platform. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A schematic diagram of the longitudinal-vertical control method for a wheeled-legged unmanned platform provided by the present invention;

[0038] Figure 2 This is a schematic diagram of the configuration of a wheeled-legged unmanned platform;

[0039] Figure 3 A schematic diagram illustrating the principle of a longitudinal-vertical control method for a wheeled-legged unmanned platform provided by the present invention;

[0040] Figure 4 A schematic diagram of the overall process of a longitudinal-vertical control method for a wheeled-legged unmanned platform provided by the present invention;

[0041] Figure 5 This is a schematic diagram of the equivalent passive suspension-damping system for a wheel-legged unmanned platform.

[0042] Figure 6 Flowchart for calculating the longitudinal and vertical active control forces of a wheeled-legged unmanned platform;

[0043] Figure 7 This is a schematic diagram of the longitudinal-vertical active control system of a wheeled-legged unmanned platform. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] The purpose of this invention is to provide a longitudinal-vertical control method, system, and device for wheel-legged unmanned platforms, which can reduce the negative vibration effects caused by large road surface excitation and improve the driving safety and stability of wheel-legged unmanned platforms.

[0046] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] like Figure 2As shown, the wheel-legged unmanned platform has two motion modes: legged and wheeled. When the unmanned platform moves in legged mode, it can perform biomimetic motion behaviors such as walking and climbing stairs; when it moves in wheeled mode, it can quickly travel over road obstacles.

[0048] like Figure 1 , Figure 3 as well as Figure 4 As shown, the present invention provides a longitudinal-vertical control method for a wheel-legged unmanned platform, comprising:

[0049] S101, torque actuation elements are arranged at the wheel-leg joints of the wheel-leg type unmanned platform; and the equivalent passive vibration reduction system of the wheel-leg type unmanned platform is determined; the equivalent passive vibration reduction system equates the longitudinal dynamics and vertical dynamics to a passive spring-damping system; the equivalent passive vibration reduction system uses an ideal whole vehicle suspension vibration reduction system as a reference model, and uses the spring stiffness and damping coefficient of each wheel leg as variables to be optimized to determine the optimal spring stiffness and optimal damping coefficient; the ideal model response tracking is completed by controlling the joint driving torque.

[0050] Based on this wheel-legged unmanned platform system, using an ideal vehicle suspension and vibration reduction system as a reference model, the optimal spring force and optimal damping force of the ideal model are tracked by controlling the joint driving torque. The drive module is constructed according to the mechanical layout of the wheel-legged unmanned platform and actual requirements. The joint torque of the wheel-legged unmanned platform is directly controlled by arranging torque-actuating elements at the joints. Using the spring stiffness and damping coefficient of each wheel leg in the ideal model as optimization variables, the optimal ideal spring stiffness and damping coefficient are obtained through optimization design, thus establishing the ideal wheel-leg vibration reduction reference model. Combined with the kinematic / dynamic analysis of the wheel-leg system, the required control torque is distributed to the joint torque output elements, completing the construction. The longitudinal and vertical dynamics of the equivalent passive vibration reduction system of this wheel-legged unmanned platform have been equivalently represented as a passive spring-damped system, such as... Figure 5 As shown in the figure, k x ,k y c represents the longitudinal and vertical stiffness of the passive spring, respectively. x ,c y These represent the longitudinal and vertical passive damping coefficients, respectively.

[0051] S102, construct the longitudinal dynamics system and the vertical dynamics model of the wheel-leg system.

[0052] S102 specifically includes:

[0053] Based on tire dynamics in the longitudinal direction, and with driving and braking torques as control inputs, a longitudinal dynamic system of the wheel-leg system is established.

[0054] In the vertical direction, based on the system's spring damping characteristics, a vertical dynamic model of the wheel-leg system is established using the vertical active motion force as the control input.

[0055] S103, obtain the longitudinal key response based on the longitudinal dynamics of the wheel-leg system; obtain the vertical key response based on the vertical dynamics model of the wheel-leg system; the longitudinal key response is the longitudinal vehicle speed, longitudinal acceleration, and longitudinal wheel position; the vertical key response is the vehicle body vibration acceleration, wheel-leg angular displacement, and platform attitude angle; the platform attitude angle includes: pitch angle and roll angle.

[0056] The key response quantities of the longitudinal and vertical systems were measured and calculated using sensor measurements and dynamic calculations, respectively. Longitudinal vehicle speed v x The acceleration 'a' is calculated by directly measuring the wheel speed and multiplying it by the wheel radius, or by measuring the platform's longitudinal acceleration 'a' by installing an IMU (Inertial Measurement Unit) on the platform body. x Vertical acceleration a y Pitch angular velocity and roll rate The joint angle δ and joint angular velocity are calculated using the encoder built into the joint motor. Using the measured response as the system output, a state observer is constructed using the Kalman filter algorithm to obtain the platform pitch angle φ and roll angle θ.

[0057] S104, Establish vertical control objectives based on vertical critical responses; establish vertical control objectives based on vertical critical responses.

[0058] S105, determine the longitudinal-vertical control objective function of the wheel leg based on the longitudinal control objective and the vertical control objective.

[0059] S105 specifically includes:

[0060] f = f1 + f2 + g1 + g2 + ... + g n .

[0061] Where f is the longitudinal-vertical control objective function of the wheel leg, f1=ε1·ω1+ε2·ω2+...+ε k ·ω k For the longitudinal control target, ω1,ω2,...,ω k For the longitudinal critical responses, ε1,ε2,...,ε k These are the weighting coefficients for the key vertical responses. For vertical control targets, For the vertical critical response, κ1,κ2,...,κ J For the weighting coefficients of the vertical critical responses, g1, g2, ..., g n Hardware constraints.

[0062] S106, based on the longitudinal-vertical control objective function of the wheel-leg system, an active control algorithm is adopted to determine the active controller based on the longitudinal dynamics model and the vertical dynamics model of the wheel-leg system; the active controller is used to calculate the longitudinal active control force and the vertical active control force for tracking the control target, and as follows... Figure 6 As shown; active control algorithms include: PID control, optimal control, and model predictive control.

[0063] Active control algorithms (such as PID control, optimal control, and model predictive control) are adopted to stabilize the control platform and reduce vehicle vibration. In the longitudinal direction, the driving / braking torque is used as the control input, and in the vertical direction, the active motion force is used as the control input. The longitudinal and vertical active control laws are designed, and the equivalent output of longitudinal and vertical control forces / torques is achieved by using different drive elements as the actuation structure.

[0064] Since wheel-legged unmanned platforms cannot directly output longitudinal and vertical active control forces, it is necessary to apply supplementary torques at key joints to equivalently output longitudinal and vertical active control forces. Let F represent the force and torque vector at the foot end, and let τ represent the torque vector of the corresponding joint. Then the relationship between F and τ is as follows:

[0065] τ=J T F.

[0066] Among them, J T The transpose of the Jacobian matrix is ​​obtained for kinematic analysis.

[0067] S107 converts the longitudinal active control force and the vertical active control force into supplementary joint torques for each wheel leg for control.

[0068] S107 specifically includes:

[0069] [τ1′,τ2′]=J T (F x +F y ).

[0070] Among them, F x For the required longitudinal active force, F y The required vertical active force, τ1′, is the calculated supplementary joint moment used to equivalently output the longitudinal and vertical active forces, J. T The transpose of the Jacobian matrix is ​​obtained for kinematic analysis. The calculated active control torques τ1′ and τ1′ are then allocated to the joint control motors, thereby realizing the longitudinal-vertical active control design of the wheel-legged unmanned platform. The longitudinal-vertical active controller of the wheel-legged unmanned platform is as follows: Figure 7 As shown, where F x1 F x2F is the longitudinal active force required for the front and rear wheels. y1 F y2 This is the vertical driving force required for the front and rear wheels.

[0071] Corresponding to the above method, the present invention also provides a longitudinal-vertical control system for a wheel-legged unmanned platform, comprising:

[0072] An arrangement module is used to arrange torque-actuating elements at the wheel-leg joints of the wheel-leg type unmanned platform; and to determine the equivalent passive vibration reduction system of the wheel-leg type unmanned platform; the equivalent passive vibration reduction system equates the longitudinal dynamics and vertical dynamics to a passive spring-damping system; the equivalent passive vibration reduction system uses an ideal whole vehicle suspension vibration reduction system as a reference model, and uses the spring stiffness and damping coefficient of each wheel leg as variables to be optimized to determine the optimal spring stiffness and optimal damping coefficient; and completes the ideal model response tracking by controlling the joint driving torque.

[0073] The dynamics model construction module is used to construct the longitudinal dynamics system and the vertical dynamics model of the wheel-leg system.

[0074] The key response acquisition module is used to acquire longitudinal key responses based on the longitudinal dynamics of the wheel-leg system and vertical key responses based on the vertical dynamics model of the wheel-leg system. The longitudinal key responses are longitudinal vehicle speed, longitudinal acceleration, and longitudinal wheel position. The vertical key responses are vehicle body vibration acceleration, wheel-leg angular displacement, and platform attitude angles. The platform attitude angles include pitch angle and roll angle.

[0075] The control target determination module is used to establish longitudinal control targets based on longitudinal critical responses and vertical control targets based on vertical critical responses.

[0076] The objective function determination module is used to determine the longitudinal-vertical control objective function of the wheel leg based on the longitudinal control objective and the vertical control objective.

[0077] The active control force determination module is used to determine the active controller based on the longitudinal-vertical control objective function of the wheel leg system and the active control algorithm, using the longitudinal dynamics model and the vertical dynamics model of the wheel leg system. The active controller is used to calculate the longitudinal active control force and the vertical active control force for tracking the control target.

[0078] The control module is used to convert the longitudinal active control force and the vertical active control force into equivalent supplementary joint torques for each wheel leg for control.

[0079] In order to execute the methods corresponding to the above embodiments and achieve the corresponding functions and technical effects, the present invention also provides a longitudinal-vertical control device for a wheel-legged unmanned platform, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, wherein the method is implemented when the computer program instructions are executed by the processor.

[0080] The memory is a computer-readable storage medium.

[0081] Based on the above description, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned computer storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0082] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0083] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A longitudinal-vertical control method for a wheeled-legged unmanned platform, characterized in that, include: Torque-actuated elements are arranged at the wheel-leg joints of the wheel-legged unmanned platform; and the equivalent passive vibration reduction system of the wheel-legged unmanned platform is determined. The equivalent passive damping system equates longitudinal and vertical dynamics to a passive spring-damping system. The equivalent passive damping system uses an ideal vehicle suspension damping system as a reference model and the spring stiffness and damping coefficient of each wheel leg as variables to be optimized to determine the optimal spring stiffness and optimal damping coefficient. The ideal model response tracking is achieved by controlling the joint driving torque. Construct the longitudinal dynamics system and the vertical dynamics model of the wheel-leg system; The longitudinal key response is obtained based on the longitudinal dynamics of the wheel-leg system; the vertical key response is obtained based on the vertical dynamics model of the wheel-leg system; the longitudinal key response is the longitudinal vehicle speed, longitudinal acceleration, and wheel longitudinal position. The vertical key responses are vehicle body vibration acceleration, wheel leg angular displacement, and platform attitude angle; the platform attitude angle includes pitch angle and roll angle. Establish vertical control objectives based on vertical critical responses; establish vertical control objectives based on vertical critical responses; The longitudinal-vertical control objective function of the wheel leg is determined based on the longitudinal and vertical control objectives; Based on the longitudinal-vertical control objective function of the wheel-leg system, an active control algorithm is adopted, and an active controller is determined based on the longitudinal dynamics model and the vertical dynamics model of the wheel-leg system. The active controller is used to calculate the longitudinal active control force and the vertical active control force for tracking the control target. The longitudinal and vertical active control forces are equivalent to supplementary joint torques for each wheel leg for control.

2. The longitudinal-vertical control method for a wheel-legged unmanned platform according to claim 1, characterized in that, The construction of the longitudinal dynamics system and the vertical dynamics model of the wheel-leg system specifically includes: Based on tire dynamics in the longitudinal direction, and with driving and braking torques as control inputs, a longitudinal dynamic system of the wheel-leg system is established; In the vertical direction, based on the system's spring damping characteristics, a vertical dynamic model of the wheel-leg system is established using the vertical active motion force as the control input.

3. The longitudinal-vertical control method for a wheel-legged unmanned platform according to claim 1, characterized in that, The determination of the longitudinal-vertical control objective function for the wheel leg based on the longitudinal and vertical control objectives specifically includes: f=f1+f2+g1+g2+...+g n ; Where f is the longitudinal-vertical control objective function of the wheel leg, f1=ε1·ω1+ε2·ω2+...+ε k ·ω k For the longitudinal control target, ω1,ω2,...,ω k For the longitudinal critical responses, ε1,ε2,...,ε k These are the weighting coefficients for the key vertical responses. For vertical control targets, For the vertical critical response, κ1,κ2,...,κ J For the weighting coefficients of the vertical critical responses, g1, g2, ..., g n Hardware constraints.

4. The longitudinal-vertical control method for a wheel-legged unmanned platform according to claim 3, characterized in that, The method of equating the longitudinal active control force and the vertical active control force to the supplementary joint torque of each wheel leg for control specifically includes: [τ1′,τ2′]=J T (F x +F y ); Among them, F x For the required longitudinal active force, F y The required vertical active force, τ1′, is the calculated supplementary joint moment used to equivalently output the longitudinal and vertical active forces, J. T The transpose of the Jacobian matrix is ​​obtained for kinematic analysis.

5. The longitudinal-vertical control method for a wheel-legged unmanned platform according to claim 1, characterized in that, Active control algorithms include PID control, optimal control, and model predictive control.

6. A longitudinal-vertical control system for a wheel-legged unmanned platform, characterized in that, include: An arrangement module is used to arrange torque-actuating elements at the wheel-leg joints of the wheel-leg unmanned platform; and to determine the equivalent passive vibration reduction system of the wheel-leg unmanned platform; the equivalent passive vibration reduction system equates longitudinal dynamics and vertical dynamics to a passive spring-damping system; the equivalent passive vibration reduction system uses an ideal whole vehicle suspension vibration reduction system as a reference model, and uses the spring stiffness and damping coefficient of each wheel leg as variables to be optimized to determine the optimal spring stiffness and optimal damping coefficient; and completes the ideal model response tracking by controlling the joint driving torque; The dynamics model construction module is used to construct the longitudinal dynamics system and the vertical dynamics model of the wheel-leg system; The key response acquisition module is used to acquire longitudinal key responses based on the longitudinal dynamics of the wheel-leg system and vertical key responses based on the vertical dynamics model of the wheel-leg system. The longitudinal key responses are longitudinal vehicle speed, longitudinal acceleration, and wheel longitudinal position. The vertical key responses are vehicle body vibration acceleration, wheel-leg angular displacement, and platform attitude angles. The platform attitude angles include pitch angle and roll angle. The control target determination module is used to establish longitudinal control targets based on longitudinal critical responses and vertical control targets based on vertical critical responses. The objective function determination module is used to determine the longitudinal-vertical control objective function of the wheel leg based on the longitudinal control objective and the vertical control objective; The active control force determination module is used to determine the active controller based on the longitudinal-vertical control objective function of the wheel leg system and the active control algorithm, using the longitudinal dynamics model and the vertical dynamics model of the wheel leg system. The active controller is used to calculate the longitudinal active control force and the vertical active control force for tracking the control target. The control module is used to convert the longitudinal active control force and the vertical active control force into equivalent supplementary joint torques for each wheel leg for control.

7. A longitudinal-vertical control device for a wheel-legged unmanned platform, characterized in that, include: At least one processor, at least one memory, and computer program instructions stored in the memory, which, when executed by the processor, implement the method as described in any one of claims 1-5.

8. The longitudinal-vertical control device for a wheel-legged unmanned platform according to claim 7, characterized in that, The memory is a computer-readable storage medium.

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