独轮车机器人的欠驱动力学特性与平衡控制策略

Under-actuated mechanical characteristic and balanced control of unicycle robot

提出一种具有3个驱动自由度的全方位行走独轮车机构,并对其动态行为及平衡控制策略进行了初步研究。考虑车轮的纯滚动和非完整约束条件,采用Kane方法建立了系统的力学模型;以此为基础,通过反馈线性化车架的3个欠驱动欧拉角,并选择全部6个自由度为输出,设计平衡运动控制器;借助MATLAB/Simulink模块,对系统平衡运动进行仿真控制,所得结果表明,通过合理选择控制参数,系统可以在短时间内实现车体平衡和航向稳定。

A novel omni-direction movement unicycle mecha- nism with three degree of freedom actuation was proposed, and its dynamics together with balanced motion control strategy were also presented. Considering nonholonomic constraints and pure roiling condition of the unique wheel, under-actuated dynamics of the sys- tem was developed by use of Kane method ; Based on the dynamics, motion controller was designed for the system, in which frame＇s three under-actuated Euler angles was linear and the whole system＇s six degree of freedom were taken as output; with MATLAB/Simu- link, simulated control experiment of balanced motion for the sys- tem was implemented, and the results show that the system can a- chieve balance in a short time by appropriate control parameters.