两轮自平衡机器人在斜坡上的动力学建模与控制.docVIP

  两轮自平衡机器人在斜坡上的动力学建模 与控制# 阮晓钢，彭奎，左国玉* 5 10 15 20 25 30 35 40 （北京工业大学电子信息与控制工程学院，北京 100124） 摘要：针对两轮自平衡机器人在斜坡上的建模和控制问题，首先采用 Lagrange 方法建立了 斜坡面上的动力学模型，然后对模型的平衡状态进行了分析，得出了平衡时车身倾角和偏航 角之间的关系。并将模型在指定的平衡状态下进行线性化，分析了线性模型的能控性，得出 系统完全能控的结论。另外，针对斜坡面上车身姿态不能直接测量的问题，找到了一种斜坡 面上姿态及斜坡倾角检测的方法。最后在此基础上，设计了 LQR 控制器，仿真结果表明两轮 机器人能在斜坡面上指定偏航角处实现自由平衡，并具有一定的抗干扰能力。 关键词：机器人控制；两轮自平衡机器人；斜坡；Lagrange；LQR 中图分类号：TP242 Two-wheeled self-balancing mobile robot dynamic model and balancing control on the slopes Ruan Xiaogang, Peng Kui, Zuo Guoyu (School of Electronic Information and Control Engineering，Beijing University of Technology, Beijing 100124) Abstract: Modeling and controlling of self-balancing robot on the slope are difficult and challenging problems.Few researches have been done in this field.Two-wheeled self-balancing mobile robot dynamic model and balancing control on the slopes was proposed in this paper. The method includes the main steps as follows: Firstly, the dynamic model is established using Lagrange method. Secondly, the model of the equilibrium is analyzed and then the relationship between balance body angle and yaw angle is obtained.Thirdly, the model is specified in the equilibrium state linearization and the controllability of the linear model is analysed. Therefor the conclusion that the system is controllable has been drawn.In addition, because the body attitude of slope surface can not be directly measured,a method of detection attitude and angle on slope surface was introduced in this paper.Finally, a LQR controller is designed for the two-wheeled self-balancing mobile robot.Simulation results show that the two-wheeled robot in specified yaw angle on slope surface is able to achieve free equilibrium.Meanwhile,the robot has certain anti interference ability. Keywords: Robot control; two wheeled self balancing robot; slope; Lagrange; LQR 0 引言 两轮自平衡机器人(Two-Wheeled Self-Balancing Robot)又称“移动倒立摆”[1]，是典型 的非完整、欠驱动、非线性系统。两轮机器人具有占地面积小，运动灵活敏捷的特点，可作 为特殊交通工具、特殊运载工具、特殊运动器械，应用于社会的和经济的许