摇臂悬挂机动平台运动姿态调节最优控制研究

摇臂悬挂机动平台运动自由度多且运动姿态调节复杂，以机构运动学控制为主的运动控制方法，不能准确描述驱动关节力矩与车体轨迹和姿态的关系。基于质心动力学模型和二次规划方法，建立了一种适用于轮腿复合移动类型车辆整体运动姿态调节的通用动态优化控制框架；以基于动力学模型的二次规划方法为主，结合系统逆运动学控制，实现了对车轮地面反作用力的直接控制。利用上述控制方法，对机动平台的侧倾、俯仰、联合姿态调节及其在颠簸路面下的应用进行仿真。结果表明，该动力学运动姿态调节动态优化控制方法能够满足实时性和控制精度的需求。

Optimal Control of Posture Adjustment for Articulated Suspension Vehicle

The motion control method mainly based on kinematics equations cannot accurately describe the relationship between the driving joint torque and the vehicle body trajectory and attitude because of the many degrees of freedom of motion and complex posture adjustment of articulated suspension vehicle. A general dynamic optimal control framework suitable for the overall posture adjustment of the leg-wheeled robot vehicle is established based on the centroidal dynamics model and the quadratic programming method. In the controller, the wheel-ground reaction force is directly controlled by using the quadratic programming method based on dynamic model and the inverse kinematics control. The above control method is used to simulate the posture adjustment of roll, pitch and composite attitude of articulated suspension vehicle and its application on bumpy road. The results show that the dynamic optimal control method of dynamic posture adjustment can meet the requirements of the real-time performance and control precision. Key