基于非线性PID的柔性两轮机器人运动控制  

Motion Balancing Control of Flexible Two-wheeled Robot Based on Nonlinear PID

作　　者：阮晓钢[1] 李世臻[1] 侯旭阳[1] 李欣源[1] 

机构地区：[1]北京工业大学电控学院,北京100124

出　　处：《控制工程》2012年第3期498-501,共4页Control Engineering of China

基　　金：国家自然科学基金资助项目(61075110);北京市自然科学基金(4102011);北京市教委重点项目(Z200810005002)

摘　　要：柔性两轮机器人是一种不稳定、非线性、强耦合系统。该系统的突出特点是在机器人的腰部装有柔性的机体结构,能够更好地模拟人和动物的生物动力学特性,具有更好的仿生性质,同时,系统的控制难度显著增大,为使机器人能够平衡直立运动,且具有较强的鲁棒性,提出了非线性PD的姿态平衡控制方法,实现了机器人的姿态平衡,并同时设计了PID航向差动控制结构驱动左右轮电机,使机器人能够完成直线行进、自旋、环绕等多种运动平衡模式。实验结果表明,机器人具有优良的平衡能力和机动性能,从而验证了方法的有效性。The flexible two-wheeled balancing robot is a non-stable, non-linear, and strong coupling system. The system is characterized by a flexible body structure at the robot＇ s waist, which could better simulate human and animals＇ biological dynamics and have more bionic feature. Such factorleads to a more difficult control system. To make the robot with a strong robust balance performance, this paper presents a nonlinear PD controller for the posture balancing control of FTWBR, and a PID heading differential controller is implemented to control the motors of the left and right wheel. The robot could achieve various sport models such as moving in a straight path, spinning and, rotation. The experiment results demonstrate the FTWBR has excellent balance and mobility performance. The resuits validate the effectiveness of the controller.

关 键 词：柔性 双轮机器人 DSP TMS320F28335 非线性PD PID控制器 轨迹 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]