球形机器人系统建模与仿真

System Modeling and Simulation for a Ballbot

针对目前球形机器人的完整动力学模型不能应用现有的非线性控制方法的问题,通过合理的抽象和简化,采用拉格朗日法选取适当的广义坐标,推导出一种完整的三维动力学模型,并将其转化为二阶非线性微分方程,相较其他的动力学模型降低了复杂度,为基于动力学模型的控制策略研究提供基础。同时针对该模型采用一种并联PID控制方法,在Simulink仿真实验中证明在此动力学模型基础上该控制策略能实现机器人的平衡控制与运动控制,并具有较好的响应特性和稳定性。

and simplified,and select the appropriate generalized coordinates.Finally,a complete 3D dynamic model is deduced by using Lagrange method.It is converted into second order nonlinear differential equation,which reduces complexity compared with other dynamic models and provides basis for the study of control strategy based on dynamic model.At the same time this paper puts forward a PID control method whose parameter adjustment of the method is convenient.The simulation results show that the controller can make the robot stable and traceable for target in Simulink.