两轮自平衡机器人控制系统分析-analysis of control system of two-wheeled self-balancing robot.docxVIP

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两轮自平衡机器人控制系统分析-analysis of control system of two-wheeled self-balancing robot.docx

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两轮自平衡机器人控制系统分析-analysis of control system of two-wheeled self-balancing robot

advantagesofimmunityandadjustthetime.Andsimulationresultsshowsimulationresultsprovedtheeffectivenessandsuperiorityoftheadaptivecontroller.Keywordstwoself-balancingrobot;SystemModeling;Kalmanfilteringalgorithm;Modelreferenceadaptivecontrol目录中文摘要········································································································I英文摘要·······································································································II1绪论11.1课题背景及研究意义····················································································11.2两轮自平衡机器人的基本结构和运动原理·························································21.2.1两轮自平衡机器人的基本结构··································································21.2.2两轮自平衡机器人的运动原理··································································31.3国内外研究现状··························································································41.4主要研究内容·····························································································82系统建模与分析······················································································102.1引言·······································································································102.2数学建模·································································································102.3可控性分析······························································································142.4系统解耦·································································································132.5本章小结·································································································143基于Kalman滤波器的两轮自平衡机器人姿态检测153.1引言·······································································································15Kalman滤波算法简介16Kalman滤波器假设16Kalman滤波器运算过程173.3姿态检测模型···························································································193.3.1误差模型······································································