无人作业运动平台的动态稳定性分析与失稳预测

doi:10.3901/JME.2023.13.068

机械工程学报 ›› 2023, Vol. 59 ›› Issue (13): 68-78.doi: 10.3901/JME.2023.13.068

扫码分享

无人作业运动平台的动态稳定性分析与失稳预测

刘翰泽^1,2, 赵江波^1,2, 王军政^1,2, 汪首坤^1,2, 张新³

1. 北京理工大学自动化学院北京 100081;
2. 北京理工大学伺服运动系统驱动与控制工信部重点实验室北京 100081;
3. 国家电投集团科学技术研究院有限公司北京 102206

收稿日期:2022-07-12 修回日期:2022-11-25 出版日期:2023-07-05 发布日期:2023-08-15
通讯作者: 赵江波(通信作者),男,1978年出生,博士,副教授,博士研究生导师。主要研究方向为无人运动平台智能控制,高功率密度电/液系统驱动控制。E-mail:zhaojiangboo@bit.edu.cn
作者简介:刘翰泽,男,1998年出生。主要研究方向为无人运动平台伺服驱动与控制。E-mail:liuhanze1222@outlook.com
基金资助:
群体协同与自主实验室开放基金课题资助项目(QXZ23013202)。

Dynamic Stability Analysis and Instability Prediction for an Unmanned Operation Mobile Platform

LIU Hanze^1,2, ZHAO Jiangbo^1,2, WANG Junzheng^1,2, WANG Shoukun^1,2, ZHANG Xin³

1. School of Automation, Beijing Institute of Technology, Beijing 100081;
2. Key Laboratory of Servo Motion System and Control, Beijing Institute of Technology, Beijing 100081;
3. SPIC Science and Technology Institute Co., Ltd., Beijing 102206

Received:2022-07-12 Revised:2022-11-25 Online:2023-07-05 Published:2023-08-15

摘要/Abstract

摘要： 无人运动平台在复杂地形作业时面临致使倾翻失稳的危险因素，需要实时进行动态稳定性判定以及失稳预测，确保安全作业。现有失稳预测方法在抗干扰性、复杂环境适应性和超前性上存在不足。基于力角稳定裕度法，提出一种适用于无人作业运动平台的、不考虑与地面相互作用机理的稳定性分析方法，综合利用无人运动平台的结构、姿态和运动信息，得到倾翻稳定性的归一化标量表示，作为稳定性判据。针对失稳预测抗干扰能力不足、不够超前的问题，提出一种基于模糊推理的失稳预测方法。模糊推理包含基本规则集和扩展规则集，输入为稳定裕度及其变化率，输出为综合稳定性指标，经过对该指标的判定，给出预测结果。在四轮独立转向车和并联六自由度平台组成的无人运动平台上进行仿真和试验，结果表明提出的方法能实现对倾翻失稳的超前预测，并具有较强抗干扰能力。

关键词: 无人运动平台, 倾翻稳定性, 力角稳定裕度, 模糊推理

Abstract: There are risk factors that lead to tip-over instability of unmanned platform in complex terrains, so it is necessary to make real-time dynamic stability judgment and instability prediction to ensure safe operation. The current instability prediction methods are deficient in anti-disturbance and adaptability to complex environment, and not in well advance. Based on the force-angle stability margin method, a stability analysis method is proposed for unmanned platform without considering the interaction mechanism with the ground. The structure, attitude and motion information of the unmanned platform are comprehensively used to obtain the normalized scalar representation of the tip-over stability, which is used as the stability criterion. Aiming at the problem of insufficient anti-disturbance ability and advancement of instability prediction, a method of instability prediction based on fuzzy inference is proposed. Fuzzy inference includes the basic rule set and the extended rule set. The input is stability margin and its gradient, and the output is a comprehensive stability index. After judging the index, the prediction result is given. The simulation and experiment are carried out on an unmanned mobile platform composed of a four-wheel independent steering vehicle and a parallel 6-DOF platform. The results show that the proposed method can achieve the advance prediction of tip-over instability and has strong anti-disturbance ability.

Key words: unmanned mobile platform, tip-over stability, force-angle stability margin, fuzzy inference

中图分类号:

TP242

刘翰泽, 赵江波, 王军政, 汪首坤, 张新. 无人作业运动平台的动态稳定性分析与失稳预测[J]. 机械工程学报, 2023, 59(13): 68-78.

LIU Hanze, ZHAO Jiangbo, WANG Junzheng, WANG Shoukun, ZHANG Xin. Dynamic Stability Analysis and Instability Prediction for an Unmanned Operation Mobile Platform[J]. Journal of Mechanical Engineering, 2023, 59(13): 68-78.

参考文献

[1] 张新,徐建华,陈彤,等. 面向重大自然灾害的救援装备研究现状及发展趋势[J]. 科学技术与工程,2021,21(25):10552-10565. ZHANG Xin,XU Jianhua,CHEN Tong,et al. Research status and development trend of rescue equipment for major natural disasters[J]. Science Technology and Engineering,2021,21(25):10552-10565.
[2] 史军军. 多足移动机器人系统的动态稳定性控制方法与实验研究[D]. 沈阳:沈阳理工大学,2016. SHI Junjun. The control method and experimental research on dynamic stability of the Multi-legged mobile robot system[D]. Shenyang:Shenyang Ligong University,2016.
[3] MCGHEE R B,FRANK A A. On the stability properties of quadruped creeping gaits[J]. Mathematical Biosciences,1968,3:331-351.
[4] HIROSE S,TSUKAGOSHI H,YONEDA K. Normalized energy stability margin and its contour of walking vehicles on rough terrain[C]//Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164). IEEE,2001:181-186.
[5] 王立鹏,王军政,赵江波,等. 基于零力矩点的四足机器人非平坦地形下步态规划与控制[J]. 北京理工大学学报,2015,35(6):601-606. WANG Lipeng,WANG Junzheng,ZHAO Jiangbo. Foot trajectory generation and gait control method of a quadruped robot on uneven terrain based on zero moment point theory[J]. Transactions of Beijing Institute of Technology,2015,35(6):601-606.
[6] VUKOBRATOVI'C M,STEPANENKO Y. On the stability of anthropomorphic systems[J]. Mathematical Biosciences,1972,15(1-2):1-37.
[7] ROY S S,PRATIHAR D K. Dynamic modeling,stability and energy consumption analysis of a realistic six-legged walking robot[J]. Robotics and Computer-Integrated Manufacturing,2013,29(2):400-416.
[8] PAPADOPOULOS E G,DANIEL A R,et al. The Force-Angle measure of tipover stability margin for mobile manipulators[J]. Vehicle System Dynamics,2000,33(1):29-48.
[9] LONG S,XIN G,DENG H,et al. An improved force-angle stability margin for radial symmetrical hexapod robot subject to dynamic effects[J]. International Journal of Advanced Robotic Systems,2015,12(5):59.
[10] ALI S,MOOSAVIAN A,ALIPOUR K. Stability evaluation of mobile robotic systems using moment-height measure[C]//2006 IEEE Conference on Robotics,Automation and Mechatronics. IEEE,2006:1-6.
[11] ALI S,MOOSAVIAN A,ALIPOUR K. Tip-over stability of suspended wheeled mobile robots[C]//2007 International Conference on Mechatronics and Automation. IEEE,2007:1356-1361.
[12] SAFAR M J A,WATANABE K,MAEYAMA S,et al. A study of tipping stability for omnidirectional mobile robot with active dual-wheel caster assemblies[J]. Artificial Life & Robotics,2012,17(1):145-151.
[13] SAFAR M J A,WATANABE K,MAEYAMA S,et al. Tip-over prediction for omnidirectional mobile robot[J]. Procedia Engineering,2012,41:1085-1094.
[14] LIU Y,LIU G. Track-stair interaction analysis and online tipover prediction for a self-reconfigurable tracked mobile robot climbing stairs[J]. IEEE/ASME Transactions on Mechatronics,2009,14(5):528-538.
[15] LI Y,LIU Y. Kinematics and tip-over stability analysis for the mobile modular manipulator[J]. Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2005,219(3):331-342.
[16] REY D A,PAPADOUPOULOS E G. Online automatic tipover prevention for mobile manipulators[C]//Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS'97. IEEE,1997,3:1273-1278.
[17] 金智林,张鸿生,马翠贞. 基于动态稳定性的汽车侧翻预警[J]. 机械工程学报,2012,48(14):128-133. JIN Zhilin,ZHANG Hongsheng,MA Cuizhen. Vehicle rollover warning based on dynamic stability[J]. Journal of Mechanical Engineering,2012,48(14):128-133.
[18] 彭辉,王军政,沈伟,等. 带补偿因子的双模糊控制在电液伺服阀控非对称缸系统上的应用研究[J]. 机械工程学报,2017,53(24):184-192. PENG Hui,WANG Junzheng,SHEN Wei,et al. Double fuzzy control with compensating factor for electronic-hydraulic servovalve-controlled system[J]. Journal of Mechanical Engineering,2017,53(24):184-192.
[19] The laboratory of analysis and architecture of systems. The Erfoud dataset[EB/OL].[2022-4-23]. https://www.laas.fr/projects/erfoud-dataset/sites-0.

无人作业运动平台的动态稳定性分析与失稳预测

Dynamic Stability Analysis and Instability Prediction for an Unmanned Operation Mobile Platform

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 6

编辑推荐

Metrics

本文评价

[1]	姜武华, 辛鑫, 陈无畏, 崔卫卫. 基于信息融合的自动泊车系统多工况车位识别和决策规划[J]. 机械工程学报, 2021, 57(6): 131-141.
[2]	张利鹏, 贾启康, 刘威, 赵玉勤. 基于驾驶意图识别的多模耦合驱动系统能量管理[J]. 机械工程学报, 2019, 55(18): 112-124.
[3]	江浩斌, 沈峥楠, 马世典, 陈龙. 基于信息融合的自动泊车系统车位智能识别[J]. 机械工程学报, 2017, 53(22): 125-133.
[4]	赵曦晶;汪立新;何志昆;杨剑. 基于改进模糊推理的光纤陀螺温度漂移建模[J]. , 2014, 50(6): 15-21.
[5]	高健;刘长宏;陈新;郑德涛. 面向引线焊线工艺的参数预测模型与规律分析[J]. , 2010, 46(15): 185-190.
[6]	王玉海;宋健;李兴坤. 驾驶员意图与行驶环境的统一识别及实时算法[J]. , 2006, 42(4): 206-212.