摘要
针对自行设计的两轮自平衡机器人Opyanbot建立了动力学模型,应用最优控制和两轮差动等控制方法设计了控制器,提出了针对两轮自平衡机器人平衡和行进的新策略。为了提高两轮自平衡机器人的控制效果,利用基于DSP数字电路的全数字智能伺服驱动单元IPM100分别精确控制左右轮电机,并利用上位机实时控制机器人的运动状态,提高了控制精度、可靠度和集成度,得到了很好的控制效果。
Aimed at two wheels self-balance robot Opyanbot, the mechanical model is set up. The controller is designed by using the optimal control method and two wheels differentiated method. A new method including balance control and movement control is introduced. In order to improve the effect of control system, IPM100 intelligent servo drive based on DSP separately is used to control two wheels and upper computer is adopted to real-time control the robot. The facility improves the precision, reliability and the integration of the control system, and is proved to be efficient.
出处
《传感器与微系统》
CSCD
北大核心
2008年第4期117-120,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(60505016)
