基于全向移动平台的二自由度单级倒立摆系统建模与LQR控制算法研究

2D of Universal Inverted Pendulum LQR Control Based on Omni-directional Platform

由于全向移动平台具有任意方向移动,任意角度转动,零转弯半径等优点成为当今研究的热点。但麦克纳姆轮全向移动平台同时具有沿不同方向运动时的电机转矩负载不平衡的特点。以基于全向移动平台的倒立摆系统为例,进行了保证摆杆稳定的同时,对平台电机转矩最小化控制的研究。建立了基于全向移动平台的倒立摆系统的动力学模型。分别设计了控制量为平台加速度和电机转矩的两种LQR控制器。通过仿真验证了同参数情况下,以电机转矩为控制量的LQR控制器对转矩的优化性能更好。

This paper focuses on the control design of a 2-DOF universal inverted pendulum mounted on an omni-di- rectional platform to minimum their motor torques.The dynamics model of the inverted pendulum is first established.Then,two LQR controllers are designed in which the inputs are the acceleration and motor torque respectively.A simulation model is established for compare the two controllers＂ performance,and the torque input controller is better than the acceleration input controller with the same parameters.