一种前轮驱动自行车机器人的原地回转运动控制与实现  

Control and Realization of the Rotation Stand Motion for a Bicycle Robot With Front-Wheel Drive

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：《测控技术》2012年第9期45-50,共6页Measurement & Control Technology

基　　金：国家自然科学基金资助项目(61105103);北京市自然科学基金资助项目(3092015)

摘　　要：建立了一种前轮驱动自行车机器人在车把和车架成正交构型时的动力学模型,重点研究其原地回转运动的稳定平衡控制方案。根据车把和车架成正交的特点并结合前轮纯滚动条件推导出车架航向角速率,基于Lagrange方程建立系统的动力学模型;采用部分反馈线性化技术,将欠驱动的车架横滚角线性化,并选择系统全部自由度为输出,通过给定一个角度的横滚角为系统的原地回转运动设计非线性控制器。数值仿真控制与实物样机实验表明,控制器可以稳定地实现自行车机器人的原地回转运动,并且改变车架横滚角的给定值可以得到不同的回转运动频率,两者的关系可以近似地描述为一个简单的线性函数。Dynamics for a front-wheel drive bicycle robot is established under the state of frame being vertical to front-bar, and stable-balanced control of the rotation stand is investigated. Rolling rate of frame is derived with driving velocity of front-wheel by combining frame and front-bar＇s orthogonal configuration and front- wheel＇s pure rolling assumption. Dynamic model is built with Lagrange formulation. Nonlinear controller for the rotation stand motion is constructed based on partial feedback linearization technology. The controller linearizes the underactuated rolling angle of frame, takes the whole dynamics as output, and sets the rolling angle with a fixed value. Simulation and prototype experiment with the proposed controller indicates that the rotation stand motion can be achieved stably, and different given rolling angle leads to different rotational frequence in which the relationship can be approximately described as a simple linearized function.

关 键 词：自行车机器人 前轮驱动 回转运动 部分反馈线性化 平衡控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]