两轮自平衡机器人的滑模控制方法研究  

The control technology of two-wheeled self-balancing robot based on sliding mode control

作　　者：戴福全[1] 阮玉镇[1] Dai Fuquan Ruan Yuzhen(College of Mechanical and Automotive Engineering, Fujian University of Technology, Fuzhou 350118, China)

机构地区：[1]福建工程学院机械与汽车工程学院,福建福州350118

出　　处：《福建工程学院学报》2016年第4期376-381,共6页Journal of Fujian University of Technology

基　　金：国家863计划(2013AA041006)

摘　　要：基于拉格朗日函数法建立了机器人的动力模型,并基于滑模控制方法设计了机器人的鲁棒控制器,实现了机器人的平衡、转向和行走等控制任务。滑模控制器是一种鲁棒控制方法,当进入滑模态后,控制能够保证机器人在外力干扰和参数变化等情况下依旧保持控制性能。通过MATLAB和ADAMS联合仿真环境,控制器的控制效果得到了验证,证明了所设计的控制方法是可行的,能够达到所要求的控制性能。A dynamic robot model was established based on the Lagrangian function method and a robot robust sliding mode controller was designed to enable the control of the robot balance,steering and walking. The sliding mode controller belongs to robust control method that can maintain the control performance of the robot under external disturbances and parameter variation. The control effect of the robot controller was verified via the joint simulation of MATLAB and ADAMS,which indicates that the method presented is feasible and effective.

关 键 词：两轮自平衡机器人 动力学控制 滑模控制方法 动力学仿真 

分 类 号：TH113.2[机械工程—机械设计及理论]