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针对一款具有垂直摆轮平衡调整机构的独轮车机器人,建立系统的力学模型并给出一种可以实现系统前后、左右和全方位综合平衡的控制方法。采用Chaplygin方程对机器人进行建模,得到一个由6个独立广义速度组成、包含有3个欠驱动方程组成的力学系统。对机器人的左右平衡、前后平衡和全方位综合平衡运动进行研究,将力学系统缩减降维得到对应的子集系统,引入部分反馈线性化方法将其中的欠驱动部分线性化,并选择子集系统的全状态为输出设计平衡控制器。数值仿真结果表明,合理选择控制器参数,控制器可以快速地实现车体的动态平衡,并且综合平衡运动的控制器参数可以由左右平衡和前后平衡运动的参数迅速整定出来,二者差别不大。
For a wheelbarrow robot with a vertical balance adjustment mechanism, a mechanical model of the system is established and a control method that can achieve a comprehensive balance of front, rear, left and right and all directions is given. The Chaplygin equation was used to model the robot, and a mechanical system consisting of six independent generalized velocities and three underexcited equations was obtained. The robot’s left and right balance, before and after the balance and all-round comprehensive balanced movement are studied, the mechanical system is reduced and reduced to obtain the corresponding subset system, and the partial feedback linearization method is adopted to linearize the under-driven part and select the subset system The full state of the design balance controller for output. The numerical simulation results show that the controller can quickly achieve the dynamic balance of the vehicle body by reasonably selecting the controller parameters, and the controller parameters of the integrated balance motion can be quickly set by the parameters of the left-right balance and the back-and-forth balance motions. .