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B-2WMR系统模型及其欠驱动特性分析 被引量：2

B-2WMR System Model and Underactuated Property Analysis
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摘要 平衡两轮移动机器人(B-2WMR)是自然不稳定体,是高阶次、不稳定、多变量、非线性、强耦合系统,其动力学系统比较复杂,它属于欠驱动系统。针对该系统,选用合适状态变量,采用Euler-Lagrange方法推导了系统的多输入多输出(MIMO)非线性动态模型,并采用该模型对平衡两轮移动机器人不同任务下的姿态和速度控制进行分析,探求了欠驱动系统的控制方法,对该模型系统在MATLAB中进行了SIMULINK仿真,得到了系统的响应曲线,为该欠驱动平衡两轮移动机器人的平衡运动控制器的设计提供一个完善的实验平台。 Balancing two-wheeled mobile robot is a kind of natural unstable underactuated system with high-rank unstable multi-variable strongly coupling complicated dynamic nonlinear property. The suitable states and applied Euler-Lagrange method for establishing the A＇17MO nonlinear dynamic model were chosen based on the balancing two-wheeled mobile robot system, and this model was employed to analyse the robot＇s pose and states control in different tasks. The direction of control method based on the underactuated system was discussed, The system model in the MATLAB environment was simulated, and the in-out responses were got. Thus, a more perfect experimental platform for the design of the balancing controller was provided.
作者 阮晓钢 陈静 蔡建羡
机构地区 北京工业大学电子信息与控制工程学院
出处 《系统仿真学报》 EI CAS CSCD 北大核心 2008年第17期4692-4696,4702,共6页 Journal of System Simulation
基金 北京工业大学研究生科技基金(ykj-2006-398) 国家自然科学基金(60774077) 北京市人才强教计划项目 高等学校博士学科点专项科研基金(20050005002)
关键词 平衡两轮移动机器人 欠驱动系统 Euler-Lagrange方法 非线性动态模型 平衡控制 Balancing Two-Wheeled Mobile Robot （B-2WMR） underactuated system Euler-Lagrange equation dynamic model balancing control
分类号 TP391 [自动化与计算机技术—计算机应用技术]
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参考文献14

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系统仿真学报
2008年 第17期

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