独轮车机器人直线定位控制的分析与实验  

Analysis and Experiment of Linear Positioning Control of Unicycle Robot

作　　者：庄未[1] 章坤 张瑞欣 黄用华[1] ZHUANG Wei;ZHANG Kun;ZHANG Ruixin;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,广西桂林541004

出　　处：《机械设计与研究》2020年第6期29-34,共6页Machine Design And Research

基　　金：国家自然科学基金(51765011;51865005);广西自然科学基金(2018JJA160115、2018JJA160116)资助项目。

摘　　要：针对一种欠驱动的独轮车机器人,研究该机器人在水平地面实现直线定位平衡控制问题。选取机器人位置坐标作为广义坐标,采用查普雷金(Chaplygin)方程建立系统的动力学模型;将独轮车机器人的直线定位控制过程分解为定车-加速-减速-定车四个阶段,通过非线性三角函数规划行走轮轮心的期望运动轨迹;引入部分反馈线性化控制算法设计控制器,选择可变控制器参数降低各阶段轨迹动态切换对系统的影响。定位控制数值仿真和实验结果表明:在选取合适的控制参数以及初始倾角均不超过3°的条件下,直线定位综合误差均不超过0.2 m。Aiming at an under-driven unicycle robot,the problem of the robot's linear positioning balance control on horizontal ground is studied.The robot position coordinates are selected as generalized coordinates,and the Chaplygin equation is used to establish the dynamic model of the system;the linear positioning control process of the unicycle robot is decomposed into four stages:fixed car-acceleration-deceleration-fixed car,through nonlinear Trigonometric functions are used to plan the desired trajectory of the wheel center;a partial feedback linearization control algorithm is introduced to design the controller,and variable controller parameters are selected to reduce the impact of the dynamic switching of trajectories at various stages on the system.The numerical simulation and experimental results of positioning control show that under the condition that the appropriate control parameters are selected and the initial inclination angle does not exceed 3°,the linear positioning comprehensive error of both is not more than 0.2m.

关 键 词：独轮车机器人 直线定位控制 部分反馈线性化 可变控制参数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]