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.
翻译:引入了一个具有极好的驾驶和飞行能力的变形陆空机器人, 提供了两种模式之间的平稳转换机制。 为机器人建立了一个精心组合的动态模型, 包括转筒、 底盘、 悬浮和变形结构。 此外, 一个基于模型的控制器, 用于在诸如斜坡和弯曲表面等各种无结构条件下的着陆和模式转换。 并且考虑移动和复杂的近地情况, 以实现两种引信模式之间的合作。 这个系统在ADAMS/Simmlink中模拟, 并且用各种斜坡的硬体- 环形系统进行测试。 结果显示, 机器人能够快速和平稳地陆空转换, 在斜坡上快速着陆24.6%。 控制器还可以将着陆抵消和冲击力分别降低32.7%和34.3%的正常控制方法。