两轮车自行车机器人的点对点位置控制  

Influence of Load on Straight-Line Fixed-Point Control of Two-Handlebar Bicycle Robot System

作　　者：黄用华[1] 郭骞 庄未[1] 银桥 李天生 HUANG Yonghua;GUO Qian;ZHUANG Wei;YIN Qiao;LI Tiansheng(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》2022年第2期38-43,55,共7页Machine Design And Research

基　　金：国家自然科学基金(51765011、51865005、52165001);广西自然科学基金(2018GXNSFAA281297、2018GXNSFAA281301)资助项目;广西区级大学生创新创业训练计划项目(201410595008)。

摘　　要：针对一种两轮车自行车机器人系统,研究了在无车把转动的前提下,对自行车机器人点对点直线控制进行研究。采用查普雷金方法对两轮车自行车机器人进行动力学分析,建立了系统的二阶动态模型,设计了线性系统二次型性能指标的最优控制(LQR)控制器来研究系统点对点的控制问题,并且添加了负载进行试验干扰。研究结果表明,两轮车自行车机器人可以在控制器的作用下保持平衡,并且证明了在一定范围内的负载,LQR控制器对两轮车机器人的点对点位置控制具有一定的鲁棒性。The point-to-point linear control of a two-wheeled bicycle robot system without handlebars is studied.In this paper,the model of a two-wheeled bicycle robot is built by using Chaplekin method,and the dynamic model of the system is established.Alinear system quadratic performance index(LQR)controller is designed to study the point-to-point control problem,and load test disturbance is introduced to testing.The results show that the two-wheeled bicycle robot can keep its balance under the action of the controller.It is proved that,with a certain range of load,the LQR controller has certain robustness to the point-to-point position control of the two-wheeled vehicle robot.

关 键 词：两轮车自行车机器人 点对点直线控制 查普雷金方法 LQR 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]