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独轮机器人前后平衡由一车轮保持并驱动其前后运动,侧向平衡则由一基于空气阻力的风轮保持,以此结构为被控对象建立该系统动力学模型.以一种非线性的控制方法—–自抗扰控制方法控制其平衡运动,在系统的纵向和侧向上分别设计一个自抗扰控制器,系统的内扰和外扰被视为自抗扰控制器的总扰动.以PID控制方法作对比实验,仿真结果表明了自抗扰控制算法的强鲁棒性和有效性.
Before and after the balance of a unicycle robot is maintained by a wheel and drives its forward and backward movement, lateral balance is maintained by a wind wheel based on the air resistance, and the structure is a controlled object to establish the system dynamics model. With a non-linear control Method-ADRC method is used to control its balance motion, and a self-disturbance rejection controller is designed in the longitudinal and lateral directions of the system respectively. The system internal disturbance and external disturbance are regarded as the total disturbance of the disturbance rejection controller. Control method for comparison experiment, the simulation results show strong robustness and effectiveness of ADRC algorithm.