| 座椅可移动2轮机器人的建模与仿真 |
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| 引用本文： | 茅力非,黄剑,宋文俊,汪秉文. 座椅可移动2轮机器人的建模与仿真[J]. 华中科技大学学报(自然科学版), 2012, 40(7): 6-10 |
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| 作者姓名： | 茅力非 黄剑 宋文俊 汪秉文 |
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| 作者单位： | 华中科技大学控制科学与工程系,湖北武汉,430074 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 采用拉格朗日动力学方程建立座椅可移动2轮移动机器人在平坦地面上做直线运动的数学模型;采用局部线性化将机器人在控制系统平衡点附近近似为线性定常系统;基于其线性模型选用线性2次型调节器对机器人进行控制,控制器保证机器人在平坦路面上运动时保持车体竖直并使座椅在某一固定位置上;采用开放动力学引擎仿真和Matlab仿真对控制系统进行数值验证.仿真结果表明：2种不同仿真环境下具有相同的仿真结果,验证了所建立动力学模型的正确性和控制方法的有效性.
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| 关 键 词： | 移动机器人 座椅可移动 动力学模型 线性二次型调节器 开放动力学引擎 仿真 |
Modeling and simulation of two-wheeled mobile robot with movable seat |
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| Mao Lifei Huang Jian Song Wenjun Wang Bingwen. Modeling and simulation of two-wheeled mobile robot with movable seat[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 2012, 40(7): 6-10 |
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| Authors: | Mao Lifei Huang Jian Song Wenjun Wang Bingwen |
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| Affiliation: | Mao Lifei Huang Jian Song Wenjun Wang Bingwen(Department of Control Science and Engineering,Huangzhong University of Science and Technology,Wuhan 430074,China) |
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| Abstract: | The dynamic model of a two-wheeled mobile robot with a movable seat,which can move strait on a flat ground,was built by applying Lagrangian motion equations.The simplified linear model of a mobile wheeled robot was obtained by local linearization about the equilibrium.Based on the linear model,the linear quadratic regulator(LQR)approach was chosen so that the robot could run on a flat ground while keeping the body upright and the seat on some fixed position.Both open dynamics engine(ODE)and Matlab were chosen to verify the proposed dynamic model and control strategy by numerical simulations.Simulation results indicate that the same simulation results can be obtained in the different simulation environments verifying the effectiveness of proposed approaches. |
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| Keywords: | mobile robot movable seat dynamic model linear quadratic regulator(LQR) open dynamics engine(ODE) simulation |
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