独轮车机器人原地定位的平衡控制分析

Research on Balanced Control of A Unicycle Robot Positioning in Situ

针对1种垂直摆轮式独轮车机器人原地站立的实现问题,给出系统在水平地面上运动的力学模型,从中探索系统全方位平衡运动控制的方法。采用Chaplygin方程对系统的动态进行分析,依照正向分析逆向输出的思路得到1种递推形式的系统2阶响应力学模型。结果表明,该模型仅占22 K字节的存储空间,且在1.8 G双核CPU、2 G内存、WIN7操作系统以及VC＋＋环境下的工控机平台上运行,所耗费的时间不超过25.2μs,较好地避免传统建模方法的力学模型膨胀问题。根据力学模型的欠驱动特性,采用部分反馈线性化设计系统原地站立的侧向和俯仰平衡运动控制器。数值仿真和物理样机实验结果表明,两者选取的控制器参数基本一致,且均能在初始倾角2°下迅速调整车体原地定位平衡,但行走独轮比摆盘需更大扭矩。

For realizing an inertial wheeled unicycle robot positioning in situ,the mechanical model of the robot moving on the horizontal ground is given,and the method of omnidirectional balance motion control of the system is explored. The system dynamics is analyzed by the Chaplygin equation,and a recursive form of second-order response mechanics model of the system is obtained according to the idea of forward analysis and reverse output. The results show that this model only occupies 22 K bytes of storage space and runs on the IPC platform with the 1.8 G dual-core CPU,2 G memory,WIN7 operating system and VC＋ ＋ environment,which takes no more than 25. 2 μs. Mechanics model expansion problem of traditional modelling method is better avoided. According to the under-actuated characteristics of the mechanical model,the lateral and pitch balance motion controllers standing in situ are designed by the partial feedback linearization method. The results of numerical simulation and physical prototype experiments show that the parameters of the controller are basically the same,and which can quickly adjust the balance of the robot positioning in situ at the initial inclination angle of 2 degrees,but the walking wheel needs more torque than the pendulum disk.