摘要
双轮机器人系统具有与传统倒立摆相似的多变量、非线性、强耦合和参数不稳定等特点。针对系统的复杂性,文章提出了基于Android平台和蓝牙通信模块实现对移动机器人的无线控制方式,采用基于DMP和Kalman滤波相结合的姿态数据处理算法及双闭环PID控制算法相结合的控制方法,实现双轮机器人的自平衡控制。文中创新地在系统上增加两个机械臂,借助机械臂能够使系统快速恢复平衡以及当系统休眠时,借助机械臂保持平衡实现节能的目的。测试结果表明,该系统能够通过蓝牙准确地发送、接收数据,控制精度高、系统稳定性好、时间响应快。
The two-wheel robot system had the traditional pendulum similar multivariable, nonlinear, strong coupling and parameter instability and so on. For the complexity of the system, realization of wireless mo-bile robot control based on the Android platform and Bluetooth communication module is proposed in this pa-per. The self-balancing control of the two-wheel robot is achieved using a combination of control methods which are attitude data processing algorithm based on DMP and Kalman filter and double-loop PID control algorithm. The two arms are increased innovatively on the system, with which can quickly restore balance and maintain balance in order to achieve energy-saving purposes when the system is dormant. The test re-sults show that the system can accurately send data and receive data via bluetooth. The system has high ac-curacy, good stability, and fast response time.
出处
《组合机床与自动化加工技术》
北大核心
2016年第12期60-64,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
南京航空航天大学金城学院大学生实践创新训练计划项目(2015048YP)
