一种独轮车机器人的动力学建模及俯仰平衡控制  

Dynamics Model and Balanced Pitching Control of a Unicycle Robot

作　　者：庄未[1] 刘成举 江汉[1] 何淑通[1] 

机构地区：[1]桂林电子科技大学,桂林541004

出　　处：《中国机械工程》2016年第4期468-474,共7页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51305087);国家级大学生创新创业训练计划资助项目(201510595034);桂林电子科技大学研究生教育创新计划资助项目(YJCXS201511;YJCXS201512)

摘　　要：针对一台3驱动独轮车机器人系统,分析了其动力学特性并给出了一种可以实现其前后俯仰平衡运动的控制方法。根据行走轮与地面接触的非完整约束特性,引入Chaplygin方程建立系统的动力学模型,结果发现独轮车机器人是一个具有6个独立广义速度、3个欠驱动自由度的欠驱动系统。考虑车体俯仰平衡运动的力学子系统,采用部分反馈线性化方法,将其中的欠驱动车体俯仰角线性化,并选择车体俯仰角和行走轮转动角为输出,设计了系统俯仰平衡运动的非线性控制器。最后通过数值仿真控制与物理样机实验验证了所设计控制器的有效性。Dynamics of a three driven joints＇ unicycle robot and controller to achieve the robot＇s balanced pitching motion were disscused herein. Firstly, considering the eoholonomic constrain be- tween the running wheel and the ground,a dynamics model for the unicycle robot was established by using Chaplygin equation. The model reveals there are 6 generalized velocities and 3 underactuated freedoms in the robot system. Secondly, focusing on the dynamics subsystem of the robot＇s balanced pitching motion, and a controller for this kind of motion was developed. The controller was based on the partial feedback linearization method, which linearized the underactuated pitching angle,and took the pitching angle and the rotating angle of the running wheel as outputs. The numerical simulation and prototype experiments were performed to testify the validilities of the proposed controller.

关 键 词：独轮车机器人 动力学模型 俯仰平衡运动 部分反馈线性化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]