独轮机器人质心参数对侧向控制影响的研究

A Study that Parameter of Center of Mass Impacts on the Lateral Control of Single-wheeled Robot

研究独轮机器人的侧向控制问题,用LQR控制器控制独轮机器人的侧向平衡。为提高驱动系统的参数指标,如选择最大输出力矩和额定转速更大的电机,同时选择减速比更小的减速器。然而这会增加能量消耗,不利于长时间续航;高速运转会增加独轮机器人的振动频率,不利于平衡控制。为了解决上述问题,提出降低独轮机器人的总质心以增大侧向倾角的可控范围的方法。侧向倾角的可控范围增大,用数值仿真对两种方法进行了对比分析。结果表明,所需电机的额定转速高达20000r/min,减速器的减速比低至1:42,改变为电机的额定转速只需要3000r/min,减速器的减速比为1:16。可得出的结论为降低独轮机器人的总质心可以增大侧向倾角的可控范围,为控制系统设计提供了参考。

The lateral control of single - wheeled robot is studied. To increase the controllable range of lateral angle, the parameters of the drive system meets control need to be improved, for example, selecting the motor with greater output torque and greater rated speed and selecting the reducer with smaller reduction ratio. However, it will increase the energy consumption and shorten battery life, besides, it not conductive to balance control because high speed will increase the vibration frequency of the single - wheeled robot. In order to solve the problem, we proposed a new method which reduces the parameter value of center of mass of the single - wheeled robot and increases the controllable range of the lateral angle. Increasing the controllable range of the lateral angle was analyzed in comparison using numeric simulation. The result of the first method shows that the rated speed of the motor is 20000r/minand the reduce ratio of the reducer is 1：42. The result of the proposed method shows that the rated speed of the motor is 3000r/min and the reduce ratio of the reducer is 1 ： 16. The conclusion is that it is validated to increase the controlla- ble range of the lateral angle by reducing the parameter value of the mass of the center of the single - wheeled robot.