论文标题
多模式可变形陆地机器人的耦合建模和融合控制
Coupled Modeling and Fusion Control for a Multi-modal Deformable Land-air Robot
论文作者
论文摘要
引入了可变形的陆地机器人，具有出色的驾驶和飞行功能，在两种模式之间提供了平稳的开关机构。为机器人建立了精致的耦合动力学模型，包括转子，底盘，悬架和可变形结构。此外，基于模型的控制器设计用于在各种非结构化条件（例如斜率和弯曲表面）下着陆和模式切换。并考虑运动和复杂的近地情况，以实现两种融合方式之间的合作。该系统在Adams/Simulink中进行了模拟，并构建了用于在各种斜率中进行测试的硬件系统测试的系统。借助设计的控制器，结果表明机器人能够快速，光滑的陆地空气开关，并且在斜坡上降落的速度快24.6％。与正常控制方法相比，控制器还可以分别在32.7％和34.3％的情况下更有效地减少着陆偏移和影响力。
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors, chassis, suspension, and the deformable structure. In addition, a model-based controller is designed for landing and mode switching in various unstructured conditions, such as slopes and curved surface. And considering locomotion and complex near-ground situations to achieve cooperation between the two fused modalities. This system was simulated in ADAMS/Simulink and a tested with hardware-in-the-loop system was constructed for testing in various slopes. With a designed controller, the results showed the robot is capable of fast and smooth land-air switching, with a 24.6 % faster landing on slopes. The controller can also reduce landing offset and impact force more effectively than the normal control method at 32.7 % and 34.3 %, respectively.
