基于前馈补偿的轮腿式平台多任务复合运动解耦控制

To solve the problems of speed stability and posture control accuracy on unmanned reconnaissance and transport platforms working for maneuvering transportation in complex combat environments, a decoupling control framework of multi-task priority compound motion was proposed based on feedforward compensation to coordinate dynamically the tasks of wheeled-legged platform with limited-height scenarios. Firstly, joint and wheel dynamics models were established separately to reduce model complexity. Then, a feedforward joint torque calculation was developed based on task priorities, and the feedforward interaction forces at the wheel and feedback control torques were superimposed to minimize the impact of real-time posture adjustments on the velocity of the center of mass (COM). Finally, a speed-closed-loop PI controller was adopted, and wheel rolling resistance was introduced to achieve effective transmission from wheel speed to the COM velocity. Simulation results show that the maximum tracking error of the platform’s center COM velocity with the proposed control method can be less than 3% during motion in constrained scenarios, providing a feasible control framework for wheeled-legged platforms used in complex environments.