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采用拉格朗日动力学方程建立座椅可移动2轮移动机器人在平坦地面上做直线运动的数学模型;采用局部线性化将机器人在控制系统平衡点附近近似为线性定常系统;基于其线性模型选用线性2次型调节器对机器人进行控制,控制器保证机器人在平坦路面上运动时保持车体竖直并使座椅在某一固定位置上;采用开放动力学引擎仿真和Matlab仿真对控制系统进行数值验证.仿真结果表明:2种不同仿真环境下具有相同的仿真结果,验证了所建立动力学模型的正确性和控制方法的有效性.
The dynamic model of Lagrangian was used to establish the mathematical model of the movable two-wheeled mobile robot moving on a flat ground. The local linearization was used to approximate the robot near the equilibrium point of the control system as a linear stationary system. Based on the linear model The controller is used to control the robot with a linear 2-time regulator. The controller ensures that the robot keeps the vehicle vertical when the robot moves on a flat road surface and makes the seat at a fixed position. The open dynamics engine simulation and Matlab simulation are used to control the robot The numerical simulation results show that the simulation results of the two kinds of simulation have the same simulation results, which verify the correctness of the established dynamic model and the effectiveness of the control method.