摘要
研究两轮机器人行走机构的系统组成及数学模型的建立,并进行了仿真和样机实验.行走机构由机械行走装置、姿态监测传感器和控制器组成,左右车轮由2个直流伺服电动机分别驱动,姿态监测使用陀螺仪和倾角传感器.在建立系统结构模型的基础上,利用Lagrange方法建立系统的动力学方程.根据线性系统理论,在Matlab环境下设计了状态反馈控制器,通过仿真验证了系统的稳定性.采用样机进行实际行走控制实验,验证了系统建模和控制器设计的合理性和有效性.
The structure and mathematical modeling of a two wheel coaxial robot are studied. The system is made up of a mobile mechanism, sensor for posture observation and the controller. The right and left wheels are driven separately by two DC servo motors. Gyroscope and angle sensors are used for posture observation. On the basis of building up the system structure model, kinetic equation is built up using the Lagrange's method. With the linear system theory, state-feed back controller is designed on Matlab, and the stability of system is proved by simulation results. Validity and rationality of the system modeling and the designed controller are verified through the performance experiments of the prototype.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2004年第12期1058-1061,共4页
Transactions of Beijing Institute of Technology
基金
河南省科技攻关项目(0424220152)
关键词
两轮机器人
数学建模
状态控制
陀螺仪
coaxial two wheels robot
mathematic modeling
posture control
gyroscope
