两轮自平衡机器人平衡控制仿真与研究  

Balance Control Simulation and Research of Two-wheeled Self-balance Robot

作　　者：李世光[1] 王文文[1] 申梦茜 高正中[1] 

机构地区：[1]山东科技大学电气与自动化工程学院,山东青岛266590

出　　处：《山东科技大学学报（自然科学版）》2016年第6期76-81,共6页Journal of Shandong University of Science and Technology(Natural Science)

基　　金：博士后基金项目(2015780729);青岛市博士后研究人员应用研究项目(2015190)

摘　　要：针对两轮自平衡机器人的平衡不稳定问题,建立了机器人动力学数学模型,设计了一种基于变论域的模糊PID控制器,以ARM的微控制器STM32F103为核心,搭建硬件平台,详细阐述两轮自平衡机器人控制参数整定的原理和方法,实现了两轮自平衡机器人系统的平衡控制。仿真结果表明:基于变论域模糊PID控制的两轮自平衡机器人响应速度快、抗干扰能力强,能够更好的减小超调量,提高系统的动静态特性和鲁棒性。To solve the balance instability problem of the two-wheeled self-balance robot,this paper established a dynamics mathematical model of robot and designed a controller based on variable universe fuzzy-PID.With micro-controller ARM STM32F103 as its core,a hardware platform was built and the principle and method of controlling parameters for two-wheeled self-balance robot were described in detail to achieve the balance control of the two-wheeled self-balance robot system.The simulation results show that with faster response speed,higher regulating precision and strong anti-interference ability,the two-wheeled self-balance robot based on variable universe fuzzy-PID can improve the static and dynamic performance and robustness of the system.

关 键 词：两轮自平衡机器人 数学建模 变论域 模糊PID 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]