球形机器人的建模与控制研究  

Modeling of Spherical Robot and Research on Relevant Control

作　　者：王志群[1] 刘蕾[2] 杨彬[2] 董春[2] 

机构地区：[1]北京交通大学电子信息工程学院,北京100044 [2]北京交通大学电气工程学院,北京100044

出　　处：《自动化仪表》2016年第6期79-82,85,共5页Process Automation Instrumentation

摘　　要：设计了一种通过三个惯性轮驱动的球形机器人,基于角动量守恒定律实现机器人移动。利用四元数及Kane方程建模方法,建立了球形机器人的完整动力学模型,给出了控制其运动的微分方程组,进而设计一个自适应模糊滑模变结构控制器,以实现对参数及动力学模型不精确的球形机器人的位置控制。为了减弱系统的抖振,通过对滑模控制器中的切换项进行模糊逼近,使切换项连续化。轨迹跟踪的仿真和试验表明,该控制器在参数不确定和动力学模型不精确的系统中有良好的表现。A spherical robot driven by three inertia wheels is designed;the motion of robot is implemented based on the law of conservation of angular momentum. Complete dynamics model of the robot is built by using quaternion and Kane equation modeling method; the differential equations that are controlling the motion are given, thereby an adaptive fuzzy sliding mode variable structure controller is designed to implement position control of the spherical robot, of which the parameters and dynamics model are not accurate enough. In order to weaken the buffeting vibration of the system, the switching items of the sliding mode controller are fuzzy approximated to make these items continuum. The simulation and experiments of trajectory tracking show that this controller has good manifestation in the system of which the parameters are undetermined either the dynamics model is inaccurate.

关 键 词：球形机器人 动力学模型 四元数 KANE方程 滑模变结构控制 自适应模糊控制 减振 轨迹跟踪 

分 类 号：TH7[机械工程—仪器科学与技术] TP242[机械工程—精密仪器及机械]