基于LQR控制的机器人自行车静态平衡研究

Research on Static Balance of Robot Bicycle Based on LQR Control

针对本团队目前研究的机器人自行车静态平衡控制,使机器人自行车达到自动静止的目的。本文在对该系统进行动力学建模的基础上,设计了一种基于LQR控制的算法,完成机器人自行车静态平衡系统。该机器人自行车是在一辆自行车的基础上改装的,要使它能够静止不倒下,我们先让前轮摆到90度。利用陀螺仪等传感器进行实时检测系统的状态,然后STM32程序通过LQR算法输出控制力矩给前轮电机,改变当前机器人自行车的状态,使系统达到静止平衡的状态。

Aiming at the static balance control of the robot bicycle studied by our team, the robot bicycle can achieve the purpose of automatic static.On the basis of dynamic modeling of the system, an algorithm Based on LQR control is designed to complete the static balance system of the robot bicycle.The robot bike is a modified version of a bicycle. To make it stationary and not fall down, we first put the front wheel at a 90-degree Angle.Using gyroscope and other sensors to detect the state of the system in real time, STM32 program outputs control torque to the front wheel motor through LQR algorithm, changes the current state of the robot bicycle, and makes the system reach the state of static balance.