摘要
针对单球自平衡移动机器人的非线性、高度耦合性和不稳定特性,提出了一种基于LQR的控制器。首先将其三维复杂动力学模型简化为三个独立平面的二维动力学模型,并建立拉格朗日平面动力学方程;其次根据平面动力学方程设计LQR控制器并在Simulink中建立控制系统仿真模型;最后对控制系统模型进行直线轨迹和圆弧轨迹跟踪仿真。仿真结果表明该控制器对线性轨迹和非线性轨迹都有很好的跟踪效果。
Aiming at the characteristics of nonlinear,high-coupling and instability of single-ball self-balancing mobile robot,the controller is proposed based on LQR.Firstly,the three-dimension dynamic model of the robot is simplified into 2D dynamics model for three independent planes,and the plane kinetic equations are established based on Lagrange equation.Then,the LQR controller is designed based on the plane kinetic equations,and the control system simulation model is established in Matlab/Simulink software.Finally,the control system simulation model is simulated at declination angle interference control,displacement interference control and trajectory tracking.The simulation results indicate that the robot has a perfect tracking result at linear or nonlinear trajectory tracking.
作者
韩雪
苗明辉
张朋
HAN Xue;MIAO Minghui;ZHANG Peng(School of Mechanical and Electronic Engineering,Pujiang College,Nanjing University of Technology,Nanjing 210000,China;Jiangsu Deeplearning Intelligent Technology Co.,Ltd.,Nanjing 210000,China)
出处
《机械工程师》
2019年第12期56-59,共4页
Mechanical Engineer
基金
校级项目“单球自平衡移动机器人关键技术研究”(NJPJ2018-2-01)
