球形机器人非线性PID控制器研究与设计  

Research and Design of Nonlinear PID Controller for a Ballbot

作　　者：廖丹 高宏力[1] 邱德军 应宏中 LIAO Dan;GAO Hong-li;QIU De-jun;YING Hong-zhong(School of Mechanical Engineering,Southwest Jiaotong University,Sichuan Chengdu610031,China)

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《机械设计与制造》2020年第3期250-253,共4页Machinery Design & Manufacture

基　　金：中央高校基本科研业务费专项资金资助(A0920502051723-9)。

摘　　要：针对一种非完整约束的典型欠驱动系统对象球形机器人,计算系统二阶非线性微分方程形式的动力学模型并验证其正确性,为非线性控制器的设计与研究提供基础。设计一种并联非线性PID控制方法,该方法将球形机器人系统看做两个单输入系统的组合,并针对每个单输入系统设计并联非线性PID控制器。在Simulink仿真实验中,证明了该控制策略能够实现机器人在平衡点附近的平衡控制与运动控制,同时在存在外界干扰情况下该控制器仍具有较好的响应特性和稳定性。This paper studies a kind of ballbot which is a typical non-homonymic constraints and under-actuated system. This paper also calculates and verifies the second order nonlinear differential equation of the ballbot,and provides the foundation for the research of nonlinear controller. A parallel nonlinear PID control method is put forward at the same time,the system is the combination of the two single input system,and for each single input system parallel nonlinear PID controller is designed.In Simulink simulation experiment,it is proved that the control strategy can realize the balance control and motion control of the robot near the equilibrium point,and the controller has better response characteristics and stability in the presence of interference.

关 键 词：球形机器人 欠驱动系统 动力学模型 拉格朗日方程 非线性PID 

分 类 号：TH16[机械工程—机械制造及自动化]