双足机器人的倒立摆模型控制系统的研究  

The research on double inverted pendulum model control system of biped robot

作　　者：贾荣丛[1] 高坤[1] 王划一[2] 

机构地区：[1]滨州学院,山东滨州256603 [2]山东大学,山东济南250061

出　　处：《微计算机信息》2009年第29期193-194,183,共3页Control & Automation

摘　　要：本文对根据人类的步行过程及人体的生理结构得到了一种简单的双足机器人模型——二级倒立摆,用二级倒立摆的平衡控制模拟双足机器人在平坦的地面上,脚面抬起高度为0的最小能量消耗的一种行走方式。本文围绕二级倒立摆系统,采用LQR-模糊控制方法实现了倒立摆的控制系统仿真。仿真结果证明本文设计的LQR-模糊控制器有很好的稳定性和鲁棒性。In this paper we develop a simple model of biped robot, which is based on the human＇s walking course and the human＇ physical structure, we have the simulation of the biped walking without lifting the feet on the fiat ground and consuming energy, which uses the balancing and locomotion of the double inverted pendulum. LQR-fuzzy control theory is introduced to study simulation and the controlling problem in real-time of double inverted pendulum in this paper. Success of simulation and success of control of hardware pendulum system proves that this controller designed in the paper has very good stability and robustness.

关 键 词：双足机器人 倒立摆 LQR 模糊控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]