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针对前轮驱动自行车机器人原地难以实现定车问题,提出一种简化的力学模型,并研究其部分反馈线性化控制策略.首先,考虑车轮纯滚动条件及定车时车把和车架垂直的特点,推导出前轮驱动角速度和车架航向角速率间的约束关系,并利用拉格朗日方程建立系统的动力学模型.然后,将系统欠驱动的车架横滚角线性化,并选择全部自由度为输出,根据部分反馈线性化原理设计定车运动控制器.仿真控制结果表明,适当地选取控制参数,系统可以在输入驱动力矩不大的情况下快速实现±10°范围内定车.物理样机实验进一步证明,利用所设计的控制器,前轮驱动自行车机器人可仅依靠前轮驱动实现小角度范围的原地定车运动.
Aiming at the problem that the front-wheel-drive bicycle robot can not realize the fixed vehicle in-situ, a simplified mechanical model is proposed and its partial feedback linearization control strategy is studied.Firstly, considering the wheel pure rolling conditions and the fixed- The relationship between the front wheel drive angular velocity and the frame heading angular velocity is deduced and the dynamic model of the system is established by using the Lagrange equation.Then the roll angle of the under-driven frame is linearized and selected All degrees of freedom are output, and the fixed-vehicle motion controller is designed according to the principle of partial feedback linearization.The simulation results show that the system can quickly set the vehicle within ± 10 ° when the input torque is small due to proper control parameters selection. The physical prototype experiment further proves that with the designed controller, the front-wheel drive bicycle robot can rely on the front-wheel drive to realize the fixed-locomotive movement in a small angle range.