基于惯性飞轮的独轮自平衡机器人侧向动力学分析  

Lateral dynamic analysis of self-balance single wheel robot based on flywheel

作　　者：朱晓庆[1] 阮晓钢[1] 魏若岩[1] 

机构地区：[1]北京工业大学,北京100124

出　　处：《应用力学学报》2013年第3期395-400,477,共6页Chinese Journal of Applied Mechanics

基　　金：国家自然科学基金项目(61075110);国家"863计划"项目(2007AA04Z226);北京市教委重点项目(KZ201210005001)

摘　　要：独轮机器人是一类重要的科学研究型机器人,基于旋转的惯性飞轮的独轮机器人可以实现独轮机器人的侧向平衡。本文单独推导了其侧向动力学方程,分析得出惯性飞轮对独轮机器人侧平衡的动力学影响,通过设计PD控制器和LQR控制器实现了对独轮机器人的侧向平衡控制,并进行了对比。仿真和物理实验均证实了:独轮机器人的滚转角变化量与飞轮的角加速度成正比;旋转飞轮产生的平衡力矩与飞轮的转动加速度方向相反;独轮机器人的滚转角变化量与飞轮的转动惯量正相关。Single wheel robot(SWR) is an important kind of scientific research robot,based on flywheel a SWR can realize self balance.This paper specially focus on its lateral dynamics,after deriving its lateral dynamic equation,we stabilize the SWR laterally by a PD and a LQR controller respectively.Based on the dynamic analysis,the following conclusions are drawn: 1) the roll angle of SWR is proportional to the angular acceleration of flywheel;2) the restoring torque by flywheel is opposite to the direction of flywheel angular acceleration;3) there is a positive correlation between the change of roll angle and the mass of flywheel.Based on the dynamic model,simulation is performed in MATLAB,and physical prototype experiment is carried on,both results confirm the conclusions.

关 键 词：独轮机器人 拉格朗日方程 侧向动力学方程 PD控制器 LQR 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]