基于复合控制器的两轮机器人平衡控制研究

两轮自平衡移动机器人是一种高阶次、不稳定、非线性的典型控制系统.以其为研究对象,采用Lagrange方程建立其动力学模型,经过线性化处理得到其一定约束条件下的线性化模型.采用线性二次型调节器与PID控制相结合的方法可有效克服线性化过程中约束条件对系统的影响,并且以数字信号处理器芯片TMS320LF2812为控制器核心,实现了两轮机器人较大倾角范围的动态平衡控制.物理实验表明：使用LQR与PID复合控制器对两轮机器人实体控制的有效性.

Research of Two-Wheeled Self-Balancing Robot Base on LQR Combined With PID

Two-wheeled self--balancing robot is a non--stable,nonlinear,strong coupling system. On the basis of building up the system structure model,kinetic equation is built up by using the Lagrange＇s method,then obtaining the linearizing model in the vicinity of the balance. The control method of combining LQR and PID can effectively overcome the impact of the constraints on the system in the linearization process,and whit the controller core of DSP TMS320LF2812,the two--wheeled self--balancing robot can achieve dynamic balance within a larger angle range. The physical experiments results demonstrate that it can control the two-wheeled robot system in a very short period of time to get a stable dynamic equilibrium,validity and rationality of the designed controller are verified through the performance experiments of the prototype.