两轮自平衡机器人的自适应模糊平衡控制  

Adaptive Fuzzy Balancing Control of Two Wheeled Self-Balancing Robot

作　　者：杨凌霄[1] 梁书田 

机构地区：[1]河南理工大学电气工程与自动化学院,河南焦作454003

出　　处：《计算机仿真》2015年第5期411-415,共5页Computer Simulation

基　　金：教育厅自然科学研究计划项目(2010B590001)

摘　　要：在两轮自平衡机器人系统的平衡控制中,为解决因所建立的数学模型不准确和存在未知干扰而影响控制性能的问题,设计了一种自适应模糊控制方法。首先,运用牛顿力学法建立了系统在斜坡上运动的数学模型。针对所建动态模型的非线性,提出采用单点模糊化、乘积推理机和中心平均解模糊化的方法构建了自适应模糊逻辑控制器,然后通过李雅普诺夫稳定性分析的方法,导出控制器的自适应律。在MATLAB/Simulink中,对自适应模糊控制的两轮自平衡机器人的平衡情况进行了仿真,结果表明,提出的自适应模糊控制器可以实现系统平衡,并具有自适应能力和鲁棒性,为两轮机器人优化控制提供了依据。In the dynamic balancing control of two wheeled self-balancing robot, to solve the problem that the in- accuracy of established model and the existence of unknown disturbance affect the performance of controller, an adaptive fuzzy control method was investigated. The dynamic math model of robot on the slope was established firstly based on Newton＇ s law. On the basis of the established nonlinear dynamic model, the adaptive fuzzy controller was constructed with singleton fuzzier, product inference and center-average defuzzier. The adaptive law was deduced with Lyapunov＇ s stability theory. The simulation of balancing control of two wheeled self-balancing robot was carried out with the control of adaptive fuzzy controller and based on Matlab/simulink. The results show that the proposed adap- tive fuzzy controller can make the system stable, and is of adaptive capacity and robustness.

关 键 词：平衡控制 数学模型 自适应模糊算法 自适应律 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]