基于动态滑模函数的球形机器人稳定平台控制  

Stabilized Platform Control of the Spherical Robot Based on Dynamic Sliding-mode Function

作　　者：张天石[1] 孙汉旭[1] 叶平 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机电产品开发与创新》2013年第1期3-5,共3页Development & Innovation of Machinery & Electrical Products

基　　金：国家自然科学基金资助项目(50775013)

摘　　要：论文针对北京邮电大学自主研制的球形机器人BYQ-7b,依靠内部驱动单元产生的偏心力以及惯性力来保证球体的运动。为了保证球形机器人的内部平台在运动过程中能够平稳可控,研究一种球形机器人的稳定平台控制方法。基于拉格朗日方程建立球形机器人的动力学模型,通过对模型的线性化处理,提出了一种基于动态滑模函数的控制方法,保证系统输出信号精确跟踪期望值,使球形机器人的内部能够快速形成一个稳定平台。最后通过仿真验证了该控制器的有效性。According to the spherical robot independently developed by the Beijing University of Posts and Telecommunications BYQ-7b,which is driven by the eccentric force and the inertial force generated by the internal drive unit.In order to guarantee to get the stable and controllable inner platform during the move,a motion control method of stabilized platform is studied.The dynamic model of motion is constructed by Lagrange equation,and then linearized the model.A motion control method based on dynamic sliding-mode is proposed to make sure that a stabilized platform is rapidly formed in the robot shell,and practical signals have the accurate tracking of the expected value.Finally,the accuracy of the motion controller is verified by simulation.

关 键 词：自动控制技术 球形机器人 动力学模型 动态滑模控制器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]