【作者】 张大鹏； 樊伟； 徐彬； 张睿；

【Author】 Zhang Dapeng;Fan Wei;Xu Bin;Zhang Rui;School of Mechanical Engineering,Beijing Institute of Technology;Institute of Advanced Technology,Beijing Institute of Technology;Chongqing Innovation Center,Beijing Institute of Technology;

【机构】 北京理工大学机械与车辆学院； 北京理工大学前沿技术研究院； 北京理工大学重庆创新中心；

【摘要】 陆空两栖无人平台凭借其出色的运动能力和复杂环境下的工作能力,已成为国内外研究的热点。然而,目前两栖平台的方案大多存在安全性差、通过能力受限等问题。针对此问题,提出一种涵道履带复合式两栖平台新构型,涵道对螺旋桨的保护极大提高了飞行时的安全性;地面行驶部分采用履带结构,提高机器人在复杂地面的通过性。对构型进行综合动力学建模,并设计双闭环转向控制器,补偿升力对平台运动模式切换时的干扰,通过Simulink仿真,验证了模型的准确性与控制器的有效性。更多还原

【Abstract】 Land-air amphibious unmanned platform has become a research hotspot in the domestic and overseas because of its excellent motion ability and working ability in complex environments.However,most of the current amphibious platforms have problems such as poor security and limited capacity.In order to solve this problem,a new configuration of ducted track composite amphibious platform is proposed.The duct protection of propeller greatly improves the safety of flight.The ground driving part adopts track structure to improve the passing ability of the robot on the complex ground.The comprehensive dynamic model of the configuration is established,and the double closed-loop steering controller is designed to compensate the interference of the lift on the platform motion mode switching.The accuracy of the model and the effectiveness of the controller are verified by Simulink simulation.更多还原