基于模糊PID的球平衡机器人控制器设计与仿真  

Design and simulation of ball balancing robotcontroller based on fuzzy PID

作　　者：缪文南 周政 旋极一 陈东水 曹闹昌 MIAO Wennan;ZHOU Zheng;XUAN Jiyi;CHEN Dongshui;CAO Naocang(School of Electronic&Information Engineering,Guangzhou College of South China University of Technology,Guangzhou 510800,China)

机构地区：[1]华南理工大学广州学院电子信息工程学院,广东广州510800

出　　处：《传感器与微系统》2021年第1期66-70,共5页Transducer and Microsystem Technologies

基　　金：2020年广东省科技创新战略专项资金立项资助项目(PDJH2020A0808);2019年华南理工大学广州学院百人计划“优秀骨干教师”科研项目(53-CQ18YG23)。

摘　　要：为了提高单球机器人的姿态控制和运动控制的能力,本文在构建单球机器人机械结构的基础上,设计了一种基于模糊比例-积分-微分(PID)控制算法的线性二次型最优控制方法的控制器,应用于机器人自平衡姿态解算和运动轨迹跟踪控制。为了提高单球机器人姿态控制的实时性、准确性和可靠性,将复杂的运动学模型简化成二维倒立摆运动学模型,并利用正运动学和逆运动学建立机器人全向轮与球移动函数,确立拉格朗日动力学模型。最后对机器人的姿态平衡和运动轨迹跟踪进行仿真。仿真结果表明:具有优化控制器的球平衡机器人在姿态控制和运动控制中,具有响应速度快、抗干扰能力强等优点。In order to improve the posture control and motion control ability of the single-ball robot,the single-ball robot with linear quadratic optimized controller based on fuzzy proportional-integral-differential(PID)control algorithm is designed,it is applied in robot self-balancing posture calculation and motion tracking control.In order to improve the real-time,accuracy and reliability of the single-ball robot posture control,complex kinematics model is simplified into two-dimensional inverted pendulum kinematics model,and forward kinematics and inverse kinematics are used to establish omnidirectional wheel and ball movement function of robot,then the Lagrangian dynamics model is built.Finally,posture balance and motion trajectory tracking process of robot are simulated.The simulation result shows that the ball balance robot with optimized controller has the advantages of fast response speed and strong anti-interference in posture control and motion control.

关 键 词：单球机器人 倒立摆 正运动学 逆运动学 动力学模型 模糊比例-积分-微分 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]