独轮机器人的建模与自抗扰控制算法  

Modeling and active disturbance rejection control algorithm of single wheel robot

作　　者：阮晓钢[1] 王旭[1] 陈志刚[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《控制与决策》2015年第12期2253-2258,共6页Control and Decision

基　　金：国家自然科学基金项目(61075110;61375086);国家973计划项目(2012CB720000);北京市市政委员会计划重点项目(KZ201210005001);教育部高等学校博士学科点专项科研基金项目(20101103110007)

摘　　要：独轮机器人前后平衡由一车轮保持并驱动其前后运动,侧向平衡则由一基于空气阻力的风轮保持,以此结构为被控对象建立该系统动力学模型.以一种非线性的控制方法—–自抗扰控制方法控制其平衡运动,在系统的纵向和侧向上分别设计一个自抗扰控制器,系统的内扰和外扰被视为自抗扰控制器的总扰动.以PID控制方法作对比实验,仿真结果表明了自抗扰控制算法的强鲁棒性和有效性.Single wheel robot＇s（SWR） balance of pitch is controlled by a wheel moving back and forth, and its roll balance is hold by a wind wheel based on the air force. This structure is used as the controlled object, and the kinetic model is established. A nonlinear control method-active disturbance rejection control（ADRC） algorithm is used to control the robot＇s moving. There are two ADRC controllers in pitch and roll direction. The internal and external disturbance of the system are regarded as the total disturbances of the ADRC controller. The PID algorithm is used for comparative test, and the result shows the strong robustness and effectiveness of the ADRC algorithm.

关 键 词：独轮机器人 动力学模型 自抗扰控制 鲁棒性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]