两轮自平衡机器人动力学建模与运动控制

Dynamic Model and Balancing Control of Two-Wheeled Self-Balancing Mobile Robot

为兼顾低成本、小体积,可实现负重行走的运动控制,设计了一种基于姿态传感器的两轮桌面式小型机器人SmallRot-I.介绍了机器人的系统构成,包括机械结构部分和电气结构部分.使用Lagrange方程对此机器人进行了动力学建模,并采用双闭环PID算法对此机器人分别进行了系统仿真和实物的控制.机器人负重保持自平衡行走和转向运动时的仿真结果和实物控制结果证明了机器人物理系统和控制方法的合理性与有效性.

To solve such problems as high-cost,big-size and weight-carrying walking,a small two desktop robot with two wheels—SmallRot-I,based on the attitude sensor,was designed.Firstly,the structure of the robot was introduced which included the mechanical parts and electrical parts.Secondly, the dynamic model of the robot was built using the Lagrange equation and the robot was controled under the double closed-loop PID algorithm.Finally,the robot was simulated and controled to walk with a heavy bag.Experimental results proved the rationality and validity of the robot physical system and control method.