双轮驱动球形机器人的模糊控制设计  

Fuzzy Control Design of Spherical Robot Driven by Two Wheels

作　　者：曾鹏 刘君 郑功倍 高丙团[2] ZENG Peng;LIU Jun;ZHENG Gongbei;GAO Bingtuan(Electric Power Research Institute of Guizhou Electric Power Co. ,Ltd. ,Guiyang 550002,China;School of Electrical Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]贵州电网有限公司电力科学研究院,贵州贵阳550002 [2]东南大学电气工程学院,江苏南京210096

出　　处：《自动化仪表》2020年第8期70-74,共5页Process Automation Instrumentation

摘　　要：双轮驱动的球形机器人由一个两轮独立驱动的内置平衡体和滚动球壳组成。模糊控制设计的目的是将球形机器人控制移动到期望位置。首先,基于拉格朗日方程,建立系统的动力学模型。其次,得益于球形机器人可实现零半径转向,将球形机器人的运动控制任务分解为转向控制与路程控制,并分别使用模糊法设计运动方向和路程控制器。在模糊控制器的设计过程中,采用融合误差作为控制器的输入量,以降低模糊控制器的维度。采用双边论域隶属度函数,设计模糊控制规则。采用重心法进行解模糊化,得到易于实现的模糊控制器。最后,数字仿真试验验证了所提控制方案的有效性。该设计方案易于在低成本控制器上实现,为球形机器人的实际推广应用奠定了一定基础。Spherical robot driven by two wheels consists of an inner balance cart driven by two independent wheels and a rolling shell.A fuzzy controller is designed to bring the spherical robot to expected position.Firstly,dynamical model of spherical robot driven by two wheels is derived based on Lagrange equations.Secondly,according to the characteristic of omni-direction turning,motion of spherical robot is divided as motion direction and distance such that fuzzy controllers for distance control and direction control can be designed separately.During the fuzzy controller design,fusion errors are used as the controller input to reduce the dimension of the fuzzy controller.The fuzzy control rules are designed by using the membership function of two-side domain,and center of gravity method is used for defuzzification,which yields an implementable fuzzy controller.Finally,simulation results demonstrate the effectiveness of the proposed control scheme.The designed fuzzy controller can be easily implemented with low-cost controller,which can lay a foundation for the extensive application of the spherical robot.

关 键 词：球形机器人 动力学模型 拉格朗日方程 模糊控制 融合函数 重心法 运动控制 仿真 

分 类 号：TH113.2[机械工程—机械设计及理论]