双轮自平衡机器人的滑模变结构控制研究

The study on the sliding mode variable structure control for a two-wheeled self-balancing robot

本文以双轮自平衡机器人为研究对象,根据经典牛顿力学建立了数学模型,针对传统极点配制方法无法克服机器人运动过程中干扰大、参数变化的问题设计了一种滑模变结构控制算法,并做出了相应的控制和仿真,有效的解决了机器人的平衡控制问题。仿真实验分析表明,滑模变结构控制算法使系统的跟踪速度更快、稳定性更高,较有较高的实际应用价值。

Based up on Newton dynamics mechanics theory,a mathematical model of linear system for a two-wheeled self-balancing robot was established.Aiming to the exterior disturbance and parameter uncertainty during the moving process,because the traditional pole assignment can＇t solve the balance problem,this article proposes a sliding mode variable structure control algorithm.Theoretical analysis and simulation show that this control algorithm causes the system that the track speed to be quicker,the stability is higher,and it has the high practical application value.