两轮机器人在坡面上的运动平衡控制

Motion balance control of two-wheeled robot on slopes

两轮机器人在坡面上运动时,由于受到重力作用的影响,其姿态平衡控制变得更加复杂。为实现机器人在坡面上的平衡控制,首先建立了两轮机器人在坡面上的动力学模型,然后针对两轮机器人设计一种非线性PD控制器。与传统的线性PD控制器进行仿真实验对比,实验结果说明:在响应速度、稳定性、鲁棒性方面,非线性PD控制有着更好的效果。最后,在姿态平衡控制中加入速度控制,构成双环的PD控制,实现了两轮机器人在坡面上的静态平衡。

Due to existence of gravity,it becomes more complex to control posture balance when two- wheeled robot is moving on slope.To realize balance control of robot,firstly establish dynamic model of two-wheeled robot on slope,and then design a nonlinear PD controller for two-wheeled robot.In contrast with traditional linear PD controller,two simulation experiments are conducted that experimental results indicate that nonlinear PD control has better effect in aspects of response speed,stability and robustness.Finally,introduce speed control in posture balance control,which constitutes double loop PD control,to realize static balance of two-wheeled robot on slope.