基于Matlab和Adams的自平衡机器人联合仿真  

Matlab/Simulink and Adams based co-simulation for self-balance robot

作　　者：徐建柱[1] 刁燕[1] 罗华 高山[1] 

机构地区：[1]四川大学制造学院,四川成都610065

出　　处：《现代电子技术》2012年第6期90-92,共3页Modern Electronics Technique

基　　金：四川省科技厅科技支撑计划资助(07GG008-026)

摘　　要：为检验自平衡机器人控制系统的准确性及其动静态性能,采用Matlab/Simulink和Adams建立虚拟样机系统的方法。通过建立机器人的状态空间方程并利用LQR方法配置系统极点,设计出状态反馈控制器。分别在Simulink和Ad-ams中建立机器人的控制系统和机械仿真模型,利用二者实现对机器人的联合仿真。仿真结果表明,所设计的控制方法能实现机器人平衡,并具有良好的动静态性能。In order to test the accuracy and the static-dynamic characteristics of the control system of self-balance robots, a virtual prototype system was created based on Matlab/Simulink and Adams. The full state feedback controller was designed by building state spacial formula and configuring the system extremity with LQR method. The control system and the mechanical simulation model of the robot were built in Simulink and Adams. The co-simulation based on Simulink and Adams for the robot was realized. The simulation result shows that the control method can keep the robot＇s balance successfully and the whole system has a good static-dynamic characteristic.

关 键 词：自平衡机器人 MATLAB/SIMULINK ADAMS 动力学仿真 

分 类 号：TP242-34[自动化与计算机技术—检测技术与自动化装置]