三关节欠驱动体操机器人的LQR倒立平衡控制  

LQR Inverted Balance Control for a Threejoint Under-actuated Acrobot

作　　者：郝建豹[1,2] 洪志杰[1] 

机构地区：[1]广东交通职业技术学院机电工程系,广东广州510800 [2]广东省科学院自动化中心,广东广州510070

出　　处：《机电工程技术》2009年第6期38-40,148,共4页Mechanical & Electrical Engineering Technology

基　　金：国家星火计划项目(编号:2005EA850034)

摘　　要：针对欠驱动体操机器人倒立平衡控制问题,给出一种基于动力学模型的三关节欠驱动体操机器人平衡控制方案。首先将三关节欠驱动体操机器人简化为一个在垂直平面上运动的三关节机器人,采用拉格朗日力学方法建立动力学模型,并推导出体操机器人系统状态方程,然后设计LQR控制器,使体操机器人稳定在不稳定的倒立平衡点,最后进行了仿真,结果表明LQR控制器实现了在两输入情况下允许的稳态误差快速响应。A balance control law based on dynamic model is proposed for three-joint under-actuated acrobot to balance it at its unstable,inverted position. First,giving a simple three-joint robot in the vertical position,dynamic model is derived by using Lagrange equations,and system state equation of the acrobot is deduced based on experimental data. And then,LQR controller is designed to balance it in its inverted position which is unstable. Finally,simulation shows that the LQR controller can respond to the two inputs quickly with static error which is allowable.

关 键 词：欠驱动 体操机器人 LQR控制器 倒立 平衡 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TP273.5[自动化与计算机技术—控制科学与工程]