一种两轮自平衡机器人比例-积分-微分控制方法

A Proportion-integration-differentiation Control Method for Two-wheeled Self-balancing Robots

两轮自平衡机器人以其机械结构简单,灵活高效的运动特性,具有广阔的应用前景。本文应用理论力学原理,分析并建立了两轮自平衡机器人的动力学模型。在此基础上,分别针对机器人系统的自平衡控制、速度控制设计了比例-积分-微分(PID)控制器。通过复频域和时域分析的方法,提出了一种简便的PID控制参数的整定方法。根据系统PID控制模型,给出了计算机器人马达输出转矩的理论公式。应用实验表明,该控制方法的平衡和速度控制动态和稳态性能良好,且具有占用机器人系统资源少,PID控制参数整定效率高的特点。

Self-balancing two-wheeled robots have potential application in many fields for its simple physical structure and fast maneuvering characteristics.The dynamics model based on theoretical mechanics principles is introduced.Proportion-Integration-Differentiation(PID)controllers are designed for the self-balancing and velocity control.An effective parameter tuning method is presented to simplify the process of obtaining practical control model through complex and time domain analysis.A torque formula coming from the PID control model is given to compute the output of a robot’s motor.Experimental applications of this control method show that the performances of dynamic response and steady states are satisfied.Its implementation costed little resources of robot system,and the parameter tuning method is effective.