两轮自平衡机器人运动平衡控制研究

对两轮自平衡机器人的运动平衡控制进行研究。通过搭建两轮自平衡机器人实验平台,采用Newton-uler法建立动力学模型以及针对机器人的运动控制、平衡控制和伺服控制设计相应的PID控制器。物理实验表明,机器人在外界冲击干扰和阶跃干扰的作用下,能够维持自身平衡同时可以执行相应的运动控制命令。结果表明,提出的两轮自平衡机器人运动平衡控制的方法是合理有效的。

The Research on Balancing Control of Two-Wheel Self-Balance Robot

This paper aims at researching the balancing control of two-wheel self-balance robot. This paper established a platform and calculated the kinetic modelvia the Newton-Euler method. The PID controller of motion control loop, balancing control loop and servo motor loop were designed. The physical test show that the self-balance robot can maintain its balance and movement under disturb. The result shows that the control method of self-balance robot is reasonable and valid