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针对无配重调节器的自行车机器人在低速下不易平衡的问题,以一种前轮驱动自行车机器人为对象,给出其力学模型及在45°车把转角下定车运动的实现方法。通过车轮转弯半径分析推导出后轮角速度、车架航向角速度与前轮驱动速度、车把转角的关系,采用拉格朗日方程建立系统的力学模型;根据部分反馈线性化原理,将包含车架横滚角的欠驱动子系统线性化,设计出自行车机器人45°车把转角下定车运动的平衡控制器。仿真控制结果表明,合理选择控制参数,控制器可以快速地实现自行车机器人在45°车把转角下的定车运动;样机试验结果进一步证明,控制器可以使自行车机器人在不超过驱动电动机的力矩容限下实现45°车把转角下的定车运动。定车运动的实现从理论和试验两个方面证明,自行车机器人在低速下可以不需要配重调节器,仅依靠车把转动和前轮驱动保持稳定平衡。
Aiming at the problem that a bicycle robot without a weight regulator can not be easily balanced at a low speed, a mechanical model of the front-wheel-drive bicycle robot and a method of determining the vehicle movement at a handlebar angle of 45 ° are given. Based on the analysis of wheel turning radius, the relationship between rear wheel angular velocity, frame heading angular velocity and front wheel drive speed and handlebar corner is deduced. The mechanical model of the system is established by using Lagrange equation. According to the principle of partial feedback linearization, The roll-angle under-driven subsystem is linearized and a balance controller is designed that specifies the movement of the bicycle robot at the corner of the handlebars at a 45 ° angle. The simulation results show that the controller can quickly achieve the scheduled vehicle movement under the 45 ° handlebar angle by the reasonable selection of control parameters. The prototype test results further prove that the controller can make the bicycle robot not exceed the torque capacity of the driving motor Limitation to achieve 45 ° handlebar corner of the fixed car movement. The realization of fixed car movement proves from two aspects of theory and experiment that the bicycle robot can not need the counterweight regulator at low speed, and only needs the rotation of the handlebar and the front wheel drive to maintain a stable balance.