轮腿式机动平台抗外力扰动双闭环控制方法研究

doi:10.3901/JME.260371

机械工程学报 ›› 2026, Vol. 62 ›› Issue (7): 196-207.doi: 10.3901/JME.260371

• 机器人与机构学 • 上一篇

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轮腿式机动平台抗外力扰动双闭环控制方法研究

谢景硕¹, 刘辉^1,2, 韩立金^1,2, 刘宝帅¹, 项昌乐^1,2, 任晓磊¹

1. 北京理工大学机械与车辆学院北京 100081;
2. 北京理工大学济南前沿技术研究院济南 250300

收稿日期:2024-12-22 修回日期:2025-10-29 发布日期:2026-05-25
作者简介:谢景硕，男，2000年出生，博士研究生。主要研究方向为机器人运动规划与控制。E-mail:xiejingshuo@sina.com
刘宝帅(通信作者)，男，1992年出生，博士，主要研究方向为车辆动力学、机器人运动规划和机器人驱动控制。E-mail:baosliu@163.com
基金资助:
国家自然科学基金青年基金资助项目(52002212)。

Research on External Disturbance Rejection Double Closed-loop Control Method of Wheel-legged Mobile Platform

XIE Jingshuo¹, LIU Hui^1,2, HAN Lijin^1,2, LIU Baoshuai¹, XIANG Changle^1,2, REN Xiaolei¹

1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081;
2. Institute of Advanced Technology, Beijing Institute of Technology, Jinan 250300

Received:2024-12-22 Revised:2025-10-29 Published:2026-05-25

摘要/Abstract

摘要： 为解决轮腿式机动平台机身承受外部强扰动后难以保持稳定状态的问题，提出了抗外力扰动双闭环控制策略。首先，结合单腿动力学模型和带有遗忘因子递归的最小二乘法，建立轮端接触力估计器，解决了无触地力传感器情况下轮端接触力难获取的问题。其次，通过运动轨道参考能量法求解平台不同方向运动额外动能的变化，设计了外部强扰动触发器，利用线性和角柔性“质量-弹簧-阻尼”模型思想分析平台质心的线运动和角运动中位移、速度、加速度等运动参数与等效力和力矩之间的映射关系，同时考虑轮端与质心相对位置关系对腿部虚拟分配力的影响，建立了关于接触力跟踪误差与轮端位置跟踪误差的动态模型，搭建机身位置闭环和轮端力闭环的双闭环控制框架。最后，仿真和样机试验验证了所提方法的实时性和有效性。

关键词: 轮腿式机动平台, 抗外力扰动双闭环控制, 接触力估计, 扰动触发器

Abstract: A double closed-loop control strategy for the wheel-legged mobile platform is proposed to enhance resistance to external disturbances, and it is mainly used to address the difficulty in maintaining platform stability when the body is subjected to strong external perturbations. Firstly, the wheel-end contact force estimator is established by combining the single-leg dynamics model and the recursive least squares method with forgetting factor, dealing with the problem of challenge in obtaining the contact force without ground reaction force sensors. Furthermore, the changes in the additional kinetic energy of the platform's movement in different directions are solved through the motion orbit reference energy method, and based on it, an external disturbance trigger is designed. The linear and angular flexible mass-spring-damping model ideas are used to analyze the mapping relationship between motion parameters such as displacement, velocity, acceleration and equivalent forces and torques in the linear and angular motion of the center of mass of the platform. Considering the influence of the relative position between the wheel end and the center of mass on the virtual force distribution of the legs, the dynamic relationship of the contact force tracking error and the wheel position tracking error is established. Then the double closed-loop control framework of body position closed loop and wheel end force closed loop is built. Finally, simulation and prototype experiment verify the real-time performance and effectiveness of the proposed method.

Key words: wheel-legged mobile platform, external disturbance rejection double closed-loop control, contact force estimation, disturbance detection trigger

中图分类号:

TJ301

谢景硕, 刘辉, 韩立金, 刘宝帅, 项昌乐, 任晓磊. 轮腿式机动平台抗外力扰动双闭环控制方法研究[J]. 机械工程学报, 2026, 62(7): 196-207.

XIE Jingshuo, LIU Hui, HAN Lijin, LIU Baoshuai, XIANG Changle, REN Xiaolei. Research on External Disturbance Rejection Double Closed-loop Control Method of Wheel-legged Mobile Platform[J]. Journal of Mechanical Engineering, 2026, 62(7): 196-207.

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轮腿式机动平台抗外力扰动双闭环控制方法研究

Research on External Disturbance Rejection Double Closed-loop Control Method of Wheel-legged Mobile Platform

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