小摆角两轮机器人动力学建模及控制器设计

针对现有两轮机器人转弯速度较低问题,提出一种可轴向摆动的新型两轮机器人设计方法. 该方法使用连杆控制机构摆动来调整机构的重心分布,实现机器人在小转弯半径条件下稳定运动的目的. 基于拉格朗日方程方法,对机器人的小摆角自由度进行了动力学建模与分析,得到了系统动力学模型,并在此基础上设计了一种状态反馈控制器. 运用Matlab/Simulink进行控制器系统仿真,验证了控制器在机器人稳定控制方面的有效性. 结果表明,该两轮机器人机构设计思路及运动控制手段可有效提高系统运动稳定性. 

Dynamic Modeling and Controller Design for a Small-Pendular Two-Wheeled Robot

To solve the low speed problem of two-wheeled robot in turn path, a mechanism design method of a new two-wheeled robot which could swing at axis direction was presented in this paper. A bar was designed to control the swing of the robot. The mechanism changed the gravity center of the robot, which made the robot much easier to cope with turn path. More specifically, it means that the robot could run in the small radius surface steadily. The dynamic analysis of the addition freedom degree had done by Lagrange equation to get the dynamics equation. And a state feedback controller was designed based on the equation. A simulation of the controller was executed based on Matlab/Simulink. The simulation results prove that the design of the controller was effective for the stable control. It also indicates that the mechanical design method and motion control system of the two-wheeled robot can improve the robot s kinetic stability effectively.