自平衡两轮机器人的分层模糊控制  

Hierarchical Fuzzy Control for Self-balancing Two-wheel Robots

作　　者：李明爱[1] 焦利芳[1] 乔俊飞[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100022

出　　处：《控制工程》2009年第1期80-82,94,共4页Control Engineering of China

基　　金：国家自然科学基金资助项目(60674066);科博启动基金资助项目(52002011200702)

摘　　要：为解决具有非线性、强耦合和绝对不稳定特点的自平衡两轮机器人的运动控制问题,提出一种分层模糊控制方法。该方法对机器人体的倾斜角度和轮子转动速度分别设计相应的模糊控制器,其输出同时进入决策器,由决策器进行智能判断与协调,输出控制量。两控制器交替工作,实现机器人体倾角控制和轮子转速控制的有机统一。该方法具有模糊规则少,控制逻辑简单的特点。对机器人的速度跟踪、运动停止及转弯等多种运动方式进行了控制仿真实验,验证了控制方法的正确性和有效性。To the nonlinear, strong-coupling and absolutely unstable characteristics of self-balancing two-wheel robot, a hierarchical fuzzy control method is proposed. Two fuzzy controllers are designed separately corresponding to the obliquity of robot body and the rotational speeds of two wheels, and their outputs are the inputs of decision-machine simultaneity. Then, the decision-machine gives the final control by intelligent judging and coordinating. The two controllers work alternately, and the control of obliquity and rotational speeds are realized naturally. This method needs less fuzzy rules and easier control logic. Some control experiments of straight movement tracking, move-stop and turn tracking are given. The results show the correctness and efficiency of the presented control.

关 键 词：自平衡两轮机器人 分层模糊控制 运动 平衡 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]