自行车机器人质心位置对回转运动的影响  

The Influence of the Position of the Centroid of Bicycle Robot on the Rotation Motion

作　　者：庄未[1] 孙兵 赵智慧 刘成举 黄用华[1] ZHUANG Wei;SUN Bing;ZHAO Zhihui;LIU Chengju;HUANG Yonghua(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)

机构地区：[1]桂林电子科技大学机电工程学院

出　　处：《机械设计与研究》2019年第4期70-76,共7页Machine Design And Research

基　　金：国家自然科学基金资助项目(51765011、51865005、61365012、51305087);桂林电子科技大学研究生教育创新计划资助项目(2017YJCX12);广西制造系统与先进制造技术重点实验室项目(17-259-05-010Z)

摘　　要：针对一台自行车机器人,研究机器人质心位置水平和竖直变化对车体回转运动的彩响问题。引入査普雷金(Chaplygin)方程建立自行车机器人系统的力学模型,采用线性二次型调节器(LQR)设计车体回转运动的平衡控制器,通垃调节质量块位置水平和竖直变化改变车架质心位置,以车把90°转角为例对控制系统进行数值仿真和物理试验。结果表明:选择同样的加权矩阵,适当的使车架质心向左水平移动或向上竖直移动,车架横滚角由初始的偏角更快地恢复到平衡位置,且前车轮控制力矩更小。研究结果可为该平衡车机器人的结构和驱动优化设计提供理论参考。For a bicycle robot, the influence of horizontal and vertical change of the centroid position of the system on rotation motion is researched. The dynamic model for the bicycle robot system is established by using Chaplygin equation. Controller for the rotation motions is developed with linear quadratic regulator (LQR). The centroid position of the frame can be changed by adjusting horizontal and vertical position of the weight. With the proposed controller, numerical simulations and physical prototype experiments of the rotation motions of the robot under the 90° fixed bars are performed. The results show that, with the same weighting matrix, and by properly moving the centroid of the frame to the left or to the top, the rolling angle of the frame can quickly turn back to the balanced point from the given initial literal angle. And the drive torque of the front wheel required for controlling is smaller. The work on the self-balancing vehicle robot in this paper can be taken as the theory foundation for the system's structure and drive optimization.

关 键 词：査普雷金方程 变质心 回转 线性二次型调节器(LQR) 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]