立方体机器人自抗扰平衡控制方法

Dynamic modeling of a cubical robot balancing on its corner

针对立方体机器人动力学模型多变量、强耦合的问题,提出一种基于自抗扰控制的平衡控制器设计方法.引入虚拟控制量,并在控制量与输出向量之间并行地嵌入多个自抗扰控制器,从而实现对多变量系统的解耦控制,将系统的动态耦合和外部扰动视为各自通道上的自抗扰控制器的总扰动,在为期望姿态安排过渡过程基础上,设计扩张状态观测器对总扰动进行估计并实时补偿.综合采用经验试凑法和带宽法对控制器参数进行整定,对自抗扰控制器系统进行稳定控制、姿态跟踪、抗扰性和鲁棒性实验,并与PID控制系统进行定量对比分析.仿真结果表明,所设计的自抗扰控制器不仅能有效实现立方体机器人的平衡控制,而且较PID控制器具有更好的响应速度、控制精度和强鲁棒性.

Aiming at the problem of the dynamic model of a cubical robot is a multivariable system and with strong coupling.A balance controller is proposed based on the active diturbance rejection control.Decoupling control of the multivariable system is reallized by introducing virtual control variables,and embedding multi active disturbance rejection controllers(ADRCs)between control variables and outputs.The dynamic coupling and external disturbance are regarded as total disturbances in each channel of the active disturbance rejection controller.After arranging the transient dyanmics of the desired attitudes,we design an extended state observer to estimate and compensate for the total disturbances simultaneously.The parameter-turning of the controller based on experience-based approximation technique and bandwith turning method.A series of experiments are conducted by simulation,and comparative analysis between the ADRC and PID controller is made.Simulation results show that the ADRC not only can control the balance of the cubical robot effectively,but also with superior performance in response rate,control accuracy and strong coupling to the PID controller.