基于PWM伺服控制及LQR的两轮自平衡移动机器人  

Self-balance Dual-wheel Mobile Robot Based on Servo Control System of PWM and LQR

作　　者：阮晓钢[1] 赵建伟[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3期363-366,共4页Control Engineering of China

基　　金：国家自然科学基金资助项目(60375017);北京市人才强教计划项目;高等学校博士学科点专项科研基金资助项目(20050005002)

摘　　要：研究两轮直立式自平衡机器人的系统结构及PWM直流伺服控制系统,加入伺服系统使得电机控制变得容易,机器人的控制也变得更加有效,并对其进行了仿真和机器实验。系统由运动装置、姿态监测传感器和控制器构成,左右车轮由2个带有光电编码器反馈的高精度直流伺服电机分别驱动,采用晶体管脉冲宽度调制(PWM)直流伺服控制系统,姿态监测使用陀螺仪和倾角传感器。建立系统的数学模型,在M atlab环境下设计了状态反馈控制器(LQR),系统具有良好的鲁棒性和稳定性。通过实验验证了系统的稳定性。一种真正的仿人型机器人实现各种灵活的行走控制,表明了系统建模、引入伺服系统和控制器设计的合理性和有效性。The structure of a dual-wheel uptight self-balance robot and the direct current servo control system of pulse width modulation （ PWM ） is discussed. The system consists up of a mobile mechanism, posture observation sensor and the controller. The tight and left wheels are driven separately by two high pereision DC servo motors with photoelectric eneoder. Direct current servo control system of PWM is used to the servo control. Gyro scope and angle sensors are used for posture observation. The mathematical model is built up. The state feedback controller is designed on Matlab, the system have good robust and perfect stability. The real robot as human being can realize all kinds of walking control. The performance experiments of the prototype show the validity and rationality of the system modeling, servo control system and the designed controller.

关 键 词：PWM伺服控制 两轮直立式自平衡机器人 姿态检测 LQR控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]