自平衡两轮机器人的参数自整定模糊控制  

Self-Adjusting Parameter Fuzzy Control for Self-Balancing Two-Wheel Robots

作　　者：马卓标 王志群[1] 张思博[2] 

机构地区：[1]北京交通大学电气工程学院电子信息工程学院,北京100044 [2]中国空间技术研究院,北京100094

出　　处：《自动化技术与应用》2014年第10期9-13,共5页Techniques of Automation and Applications

摘　　要：为解决具有强耦合、非线性和不确定性等特点的自平衡两轮机器人的平衡控制问题,提出一种参数自整定模糊控制器。该控制器通过比较系统响应与给定的差别来对控制参数进行自整定,降低了控制器设计过程中对设计者经验的要求。该控制器采用零阶Takagi-Sugeno模型,易于在嵌入式系统中实现。搭建了自平衡两轮机器人硬件本体,建立了相应的数学模型,并给出仿真与实验结果,验证了该控制器的有效性。A self-adjusting parameter fuzzy controller is proposed to carry out the balancing of two-wheel robots its system are strong coupled, nonlinear and uncertain. The controller lower the demand of the designer＇s experience because it can adjust its parameters via comparing the difference between the response and given of the system. The controller is zero- order Takagi-Sugeno type and it is easy to realize in embedded systems. The hardware and mathematic model are built and simulation results and experimental results are given to verify the effectiveness of the proposed controller.

关 键 词：两轮机器人 自平衡控制 模糊控制 自整定 嵌入式系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]