全地形搭载平台主动车身姿态与全轮转向智能协同控制系统研究

In the mission of exploration, rescue and investigation, the off-road ability of conventional vehicles is insufficient, and military vehicles may impact on environment. This means that the existing vehicles are not suitable for working on a harsh terrain with friendly blending into surroundings. This research focuses on a collaborative wheel-legged hybrid control system based on an intelligent all-terrain mobile platform. When the mobile platform is on a harsh terrain, ride comfort and handling can be improved by keeping attitude flat by the movement of leg. In a corner or slope, the external longitudinal and lateral accelerations which are acting on the mass center of car body can be reduced by tilting car body inward. By using more efficient active mass shift and the correlation between tilting motion and yaw motion, the road holding capability, cornering sensitivity and lateral safety can be also improved. And then, an all-wheel steering control is combined with the attitude control to enhance trajectory tracking performance, lateral stability and safety. However, the motion of leg may cause changes of wheel-base and wheel-track, because of the active attitude motion. It results in unexpected under-steering and over-steering behaviors and increasing error of trajectory following. Considering the change of wheel-track and wheel-base, attitude angle and mass shifting, the proposed collaborative control system can not only enhance the performance of trajectory following，but also improve overall cornering performance under a harsh terrain and extreme situation.

在勘探、搜救与侦查活动中，普通车辆越野能力不足，而特种车辆对环境破坏严重，难以在复杂地形及复杂天候条件下开展工作。本项目针对全地形搭载平台主动车身姿态与全轮转向智能协同控制系统展开研究。在地形起伏时，主动姿态控制系统通过调整腿部动作保持车身姿态平衡。在弯道或斜坡时，平台通过主动姿态控制减小外力对所搭载设备的冲击及防止车辆倾覆，运用更积极的车身质心偏移平衡各轮胎重力分布。利用车身侧倾与横摆动作的耦合关系，与主动全轮转向系统协同工作，在复杂地面滑移影响下，保证轨迹跟踪精度，并进一步提升横向稳定性、操纵灵敏度与横向安全性。由于腿部动作易导致轮距与轴距等参数的变化，协同控制系统将综合考虑腿部动作、轮距轴距、姿态角以及车身重心偏移等因素，主动协调多轮转向角度，在地面湿滑情况下，同时提高轨迹跟踪性能与整车转向性能，解决搭载平台的全地形投送与全天候工作等实际问题。

基于我国陆上丝绸之路国家战略与地球资源勘探等需求，以及快速城市建设所带来的地质灾害频发等现象，在保安巡查、地质勘探、野外救援等领域迫切需要具备优秀通过性与机动性底盘，高稳定性与安全性搭载，同时兼备信息化与体系化能力的智能全地形系列化搭载平台，实现上述领域的应用。.本项目以智能搭载平台为载体，所重点研究的车辆姿态与转向智能协同系统利用主动质心偏移作用，在消除外力力对舒适性的不良影响同时，对改善车辆横向操控性能发挥了更积极的作用，从而实现了车辆平顺性、稳定性、灵活性与车头指向性以及成员的舒适性的同步提升，解决了搭载平台的全地形投送问题。作为该系列平台的核心，本研究的成果将实现众多相关领域关键技术突破，降低关键核心技术对外依存度，同时也是智慧生态创新的组成部分，符合我国在下一个百年计划中对地面车辆发展的期盼。