非同轴两轮机器人的自平衡分析与控制策略  

Analysis and Control Strategy of Non-coaxial Two-wheeled Self-balancing Robot

作　　者：李亚锋 王卫军 张弓 侯至丞 杨根 LI Ya-feng;WANG Wei-jun;ZHANG Gong;HOU Zhi-cheng;YANG Gen(Guangzhou Institute of Advanced Technology,Chinese Academy of Sciences,Guangzhou 511400,China;Shenzhen CAS Derui Intelligent Technology Co.,Ltd.,Shenzhen 518109,China)

机构地区：[1]广州中国科学院先进技术研究所,广州511400 [2]深圳中科德睿智能科技有限公司,深圳518109

出　　处：《自动化与仪表》2018年第3期37-41,共5页Automation & Instrumentation

基　　金：广东省引进创新创业团队专项项目(2014ZT05G132);广州市重大专项项目(2016201604030051);广州市南沙区技术开发项目(2015KF031)

摘　　要：针对非同轴两轮自平衡机器人存在系统平衡失效的问题,提出了一种基于增益调度算法与进动角归零补偿的控制策略来消除进动角,同时采用机械方式实现陀螺转子进动硬同步,可使系统倾斜角和陀螺进动角均逼近零。阐述了系统的动力学建模、控制仿真、制作样机实验平台等,开展了相关的试验以验证系统的平衡效果。试验结果表明,该系统具有很好的平衡性能和抗冲击能力,实时响应性高,稳态误差小,使非同轴两轮机器人走向应用更近一步。For the non coaxial two wheeled self balanced robot balance invalidation system,proposes a control strategy of gain scheduling algorithm and the precession angle zero based on compensation to eliminate the precession angle,and the mechanical way of hard synchronization gyroscope precession,can the tilt angle of the gyroscope precession angles are close to zero and the system.The dynamic modeling of the system,the control simulation,the experiment platform of the prototype and so on are expounded,and the balance effect of the related experimental verification system is carried out.The experimental results show that the system has good balance performance and impact resistance,high real-time response,small steady-state error,making the non coaxial two wheeled robot move closer to the application.

关 键 词：两轮机器人 非同轴 自平衡 陀螺转子 进动效应 增益调度 载人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]