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提出一种无配重调节器的前轮驱动自行车机器人的欠驱动力学模型,重点讨论了仅靠前轮驱动和车把转动实现水平面直线平衡行走的控制方法.通过转弯半径分析推导出用前轮速度和车把速度表示的系统动能,采用拉格朗日方法建立系统的力学模型.以此为基础,将有驱动输入的前轮、车把转角线性化,将欠驱动的车架横滚角作为内部动态,设计出机器人的直线运动平衡控制器.仿真控制结果验证了控制策略的有效性.样机实验结果进一步证明了控制器可以在合理输入力矩下实现自行车机器人的直线平衡行走.
An under-driven mechanical model of a front-wheel-drive bicycle robot without a weight regulator is proposed, focusing on the control method of the horizontal-plane straight-line walking with only the front wheel drive and the handlebar turning.By analyzing the turning radius, Speed and handlebar speed expressed by the kinetic energy of the system, the use of Lagrange method to establish the system of mechanical model.On the basis of a driving input of the front wheel, the handlebar corner linearization, under-driven frame roll angle As the internal dynamics, the robot’s linear motion balance controller is designed, and the simulation results verify the effectiveness of the control strategy.The experimental results of the prototype further prove that the controller can achieve the linear balance walking of the robot with reasonable input torque.