45°车把转角下前轮驱动自行车机器人的定车运动  

Track-stand Motion of a Front-wheel Drive Bicycle Robot under 45° Front-bar Turning Angle

作　　者：黄用华[1] 廖启征[1] 魏世民[1] 郭磊[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机械工程学报》2012年第7期16-22,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(61105103)

摘　　要：针对无配重调节器的自行车机器人在低速下不易平衡的问题,以一种前轮驱动自行车机器人为对象,给出其力学模型及在45°车把转角下定车运动的实现方法。通过车轮转弯半径分析推导出后轮角速度、车架航向角速度与前轮驱动速度、车把转角的关系,采用拉格朗日方程建立系统的力学模型;根据部分反馈线性化原理,将包含车架横滚角的欠驱动子系统线性化,设计出自行车机器人45°车把转角下定车运动的平衡控制器。仿真控制结果表明,合理选择控制参数,控制器可以快速地实现自行车机器人在45°车把转角下的定车运动;样机试验结果进一步证明,控制器可以使自行车机器人在不超过驱动电动机的力矩容限下实现45°车把转角下的定车运动。定车运动的实现从理论和试验两个方面证明,自行车机器人在低速下可以不需要配重调节器,仅依靠车把转动和前轮驱动保持稳定平衡。In view of the difficulty of balanced control in low speed for bicycle robot without regulator weight,a front-wheel drive bicycle robot is concerned,dynamics of the robot and stable-balanced controller for the track-stand motion under 45° front-bar turning angle are investigated.Considering wheels＇ turning radius,yaw angle velocity of frame and rotational velocity of rear-wheel are derived from rotational velocity of front-wheel and rotational angle of front-bar,dynamics for the system is established with Lagrange Formulation.By the linearization of under-actuated subsystem of frame rolling angle,controller for 45° front-bar turning angle track-stand motion is constructed with partial feedback linearization.Numerical simulation for the controller shows the bicycle robot can realize 45° front-bar turning angle track-stand motion quickly with appropriate controller parameters.Prototype experiment further validates track-stand motion can be achieved with torque not exceeding driving motor＇s torque tolerance.The study verifies from theory and experiment that,in low running velocity,the front-wheel drive bicycle robot can keep balance only with front-bar turning and front-wheel driving torque,and regulator weight is not prerequisite.

关 键 词：自行车机器人 前轮驱动 45°车把转角 定车运动 部分反馈线性化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]