单轮机器人的控制器设计与侧平衡实验验证-机械电子工程专业论文.docx

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 II II Abstract Either it is the oldest industrial robot that just can repeat a single movement or a modern kind with artificial intelligence technology, which can judge and move automatically, the robot controller is always the most important part in these robot systems. With the development of computer technology, electronic technology and sensor technology, the controller is playing an increasingly important role for the improvement and application of the robot technology. This paper presents a single-wheel robot controller design for the vertical rotor structure model, based on the state-feedback balancing control strategy by the title angle and velocity. According to different functions, the controller hardware has been divided into 3 parts including the state detection unit, the balancing control unit and the motor control unit. Accelerometers and gyroscopes are used to detect the title angle and velocity respectively, and this two-sensor structure design helps to improve the detection accuracy and cut down the drift influence. High-speed digital signal processing chip have been employed in the balancing control unit and motor control unit so as to gain a high performance. Additionally, CAN bus communication is built between the two units. The lateral posture stability has a great influence on the balancing and trajectory track control, and because of its under-actuated, it will be much more difficult to keep stability and gain strong robustness. So in the paper, it demonstrates the design of the lateral balancing control experiment. In this part, the program structure is built, which involves the state-feedback detection program, motor speed control program, UART and CAN communication program and the PD balancing control program. The UART codes help detecting the procedure of the experiment. Finally through trying adjusting the parameters, step by step, the balancing control experiment achieved a good result. The experiment ac