自平衡机器人的机械建模与自平衡算法

Mechanical Modeling and Balance Control For The Self-balancing Robot

针对高阶次、多变量、非线性、欠驱动的单轮机器人系统,提出了一种最优控制算法。首先采用机械方程推导出力学模型,通过将其在平衡位置处进行线性化,得到系统的线性化标称方程,然后用对称根轨迹(SRL)配置极点的控制方法实现了独轮机器人的动态稳定和平衡控制。仿真的结果验证了力学模型的正确性和反馈线性化控制算法的有效性。

An symmetric root locus（SRL）pole placement approach is proposed for the high order, multivariate, typical nonlinear, underactuated unicycle robot system. The dynamical model is firstly established based on mechanical formulation. The tangent linearization of the model at its equilibrium yields to the linearizadon nominal model. Then using symmetric root locus（SRL）pole placement approach to achieve dynamic balancing and motion control of the unicycle robot. Computer simulation verifies the validity of the dynamic model. The effect of the controller is testified by simulation experiments.