摘要
两轮自平衡移动机器人是一种高阶次、不稳定、非线性的典型控制系统,以其为研究对象,采用Lagrange方程建立其动力学模型,经过线性化处理并在多项式同伦映射与其零点映射轨线的基础上,采用同伦不动点的控制系统闭环极点配置方法实现闭环极点的配置;仿真和物理实验表明,同伦法对两轮自平衡机器人的姿态进行控制,在很短时间即可获得较为稳定的动态平衡,此控制器设计方法优于传统极点配置方法。
Two-wheeled robot is a non-stable,non-linear,strong coupling system.This paper established the dynamic model applying Lagrange program,and carried out linearization treatment.Based on polynomial homotopic mapping and the corresponding zero loci,this article used the pole disposition method based on the homotopic fixed point to configure closed-loop poles.The simulation and physical experiments results demonstrate that it can control the two-wheeled robot system in a very short period of time to get a stable dynamic equilibrium.This controller design method is superior to the traditional method of pole placement.
出处
《计算机测量与控制》
CSCD
北大核心
2010年第9期2083-2084,2087,共3页
Computer Measurement &Control
基金
国家自然科学基金项目(60774077)
