两轮自平衡机器人的LQR实时平衡控制  

Real-time Balance Control for Self-balancing Two-wheeled Robot with LQR

作　　者：张金学[1] 掌明[1] 

机构地区：[1]淮海工学院电子工程学院,连云港222005

出　　处：《自动化与仪表》2013年第5期5-9,共5页Automation & Instrumentation

基　　金：国家自然科学基金面上项目(61174013);江苏省高校自然科学基金项目(BK20110398);江苏省高校自然科学基金项目(08KJD520003)

摘　　要：两轮平衡机器人已经成为能够为日常机器人提供未来运动方式的一个研究领域。两轮平衡机器人区别于传统形式的机器人,它需要必须具有一个独特的稳定控制系统来保持其直立。为了平衡系统该文利用平衡机器人的动态模型设计控制器,测试LQR在平衡系统的实用性并评估其性能。仿真结果表明LQR控制器可以稳定系统,并且在平衡基于倒立摆模型的两轮自平衡机器人时表现出满意的结果。Two wheeled balancing robots has become an field of research that may well provide the future locomotion for everyday robots. The unique stability control that was required to keep its upright and the two wheeled balancing robot was upright differentiates from traditional forms of robotics, In order to balance the system,the LQR controller has been designed utilising the dynamics model developed for the balancing robot in this paper.The paper examines the suitability and evaluates evaluates the performance of the LQR controller in balancing the system. The simulation results show that LQR controller can stabilize the system and have good effect in balancing self-balancing two- wheeled robot based on the inverted pendulum model.

关 键 词：两轮平衡机器人 LQR 平衡 倒立摆 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]