电磁导引的两轮自平衡移动机器人设计  

Design of two-wheeled self-balancing mobile robot guided by electromagnetism

作　　者：谭苗[1] 吴益飞[1] 陈扬[1] 郭毓[1] 

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期249-253,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家级大学生创新创业训练计划资助项目(201210288002)

摘　　要：设计了一种能在运动过程中按需转向的电磁导引的两轮自平衡移动机器人系统.介绍了该系统的机械结构、工作原理及控制系统设计,并建立了系统的数学模型.针对两轮机器人的运动及平衡控制问题,基于极点配置思想设计了状态反馈控制器,同时利用卡尔曼滤波器对机器人的姿态信息进行最优估计.实际调试结果表明:所设计的机器人具有很好的自平衡能力,并实现了直立平移和转向的功能,验证了系统设计的可行性和控制算法的有效性.A two-wheeled self-balancing mobile robot guided by electromagnetism was designed, which could move forward and steer as needed.The mechanical structure and working principle were described as well as the systematic design.The mathematical model of the system was also built.In view of the robot movement and the balance control problems,the state feedback controller was designed based on pole assignment.Kalman filter was used to estimate the optimal data of the attitude sensors.The results show that the robot is capable to stay in balance,move forward and turn verticality,verifying the feasibility of system design and the effectiveness of the control algorithm as well.

关 键 词：移动机器人 自平衡 电磁导引 状态反馈 卡尔曼滤波 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]