无人作业运动平台的动态稳定性分析与失稳预测

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.