两轮自平衡机器人控制系统设计及避障的实现控制科学与工程专业论文.docxVIP

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 - Abstract Two wheels self-balancing robot based on the inverted pendulum model belongs to the category of the wheeled robots and combines with the idea of autonomous moving. The robot is small in mechanism and can make a flexible motion. So it fits for tasks in narrow and dangerous space and has a wide foreground both in service and transportation. The instability of balancing robot systems will also be an excellent test bed for control theory experimentation. The mechanical model of two wheels self-balance robot Opyanbot is designed. Hardware system including component selection and circus designing, and new methods including balance control , movement control and rotation control are introduced，based on the real time ability, precision and reliability, with using the optimal control method and differential method. In order to improve the affect of control system, IPM100 intelligent servo drives based on DSP to control two wheels separately are used and upper computer real-time control to manipulate the robot is adopted. The facility improves the precision, reliability and the integration of the control system, and is proved to be efficient. Infrared sensors and ultrasound sensors are used in the avoiding obstacle strategy of Opyanbot. Using MATLAB and Simulink, Simulation results are provided to validate the effect of all parameters mathematically resulted, and adjust them. Experiment on robot Opyanbot tests control strategy, adjust control parameters, and finally gained an excellent result. Keywords self-balance robot, control system, optimal control, digital servo drive - - PAGE IV - 目 录 摘要 I Abstract II 第 1 章 绪论 1 1.1 课题来源 1 1.2 课题背景 1 1.3 国内外研究现状 2 1.3.1 国外两轮自平衡机器人研究现状 2 1.3.2 国内外相关研究分析 5 1.4 本文主要研究内容 6 第 2 章 两轮自平衡机器人的动力学模型 7 2.1 引言 7 2.2 系统建模 8 2.2.1 车轮模型 8 2.2.2 车身模型 9 2.2.3 机器人模型 12 2.3 本章小结 13 第 3 章 控制系统的硬件设计 14 3.1 引言 14 3.2 硬件组成 14 3.2.1 运动控制器 14 3.2.2 传感器 18 3.3 硬件结构设计 19 3.4 本章小结 20 第 4