无人自行车侧向平衡的全阶滑模控制器设计与分析

Design and Analysis of a Full-Order Sliding Mode Lateral Balance Controller for an Unmanned Bicycle

针对一种无机械调节器的无人自行车,设计一种全阶滑模控制器实现无人自行车在水平地面上的侧向平衡运动,并进一步分析该控制器在不同地形下的鲁棒性。首先引用线性变参数力学模型(Linear Variable Parameter,LPV),代入无人自行车的集总参数建立无人自行车的线性模型,然后基于Ackermann公式的设计方法来设计全阶滑模侧向平衡控制器,最后通过数值仿真和物理样机实验分析该全阶滑模控制器在不同地形下的鲁棒性。数值仿真和样机实验结果表明,无人自行车在水平地面能实现侧向平衡运动,并且在控制器结构和参数不变的条件下,能够进一步实现在一定坡度的路面以及凹凸不平的土地路面上的侧向平衡运动。该结果也说明了全阶滑模控制器具有一定的能够在不同地形下克服外部干扰的鲁棒性。

In this paper,for an unmanned bicycle without a mechanical regulator,a full-order sliding mode controller is designed to realize the lateral balance movement of the unmanned bicycle on a level ground,and the robustness of the controller under different terrains is further analyzed.Firstly,the linear parameter varying(LPV)model is used to establish the linear model of the unmanned bicycle by substituting the lumped parameters of the unmanned bicycle,and then the full-order sliding mode lateral balance controller is designed based on the design method of Ackermann formula.Finally,the robustness of the full-order sliding mode controller under different terrains is analyzed through numerical simulation and physical prototype experiment.Numerical simulation and prototype experiment results show that the unmanned bicycle can achieve lateral balance movement on level ground,and under the condition of constant controller parameters,it can further achieve lateral direction on a certain slope of the ground and uneven ground.The results show that the full-order sliding mode controller has the robustness to overcome external interference under different terrain surfaces.