带惯性轮的两轮机器人H_(∞)鲁棒控制系统  

Two-Wheeled Robot with Inertial Wheels H_(∞)Robust Control System

作　　者：胡阳城 黄卫华 陈昊 杨继荣 吴家刚 HU Yang-cheng;HUANG Wei-hua;CHEN Hao;YANG Ji-rong;WU Jia-gang(Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学机器人与智能系统研究院,武汉430081

出　　处：《组合机床与自动化加工技术》2023年第4期58-62,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(61773298)。

摘　　要：针对复杂环境中两轮机器人的实用性和平衡控制问题,构建了一种带惯性轮的两轮机器人H_(∞)鲁棒控制系统。首先,介绍了两轮机器人的机械结构及性能,通过惯性轮和底部双轮共同作用增强机体的运动能力,提升机器人对环境的适应性;其次,推导了坡面上带惯性轮的两轮机器人动力学模型;在此基础上,设计了一种基于H_(∞)鲁棒控制器的两轮机器人系统,实现了机器人姿态控制的自平衡稳定性、鲁棒性以及抗扰性;最后,仿真和实测实验验证了所设计机器人系统的可行性和有效性:机器人系统的倾斜角度可调范围更大、控制精度更高,可有效抑制由于机体振动和外界干扰对系统的影响。A H_(∞)robust control system for a two-wheeled robot with inertial wheels is constructed to address the practicality and balance control problems of two-wheeled robots in complex environments.First,the mechanical structure and performance of the two-wheeled robot are introduced,and the motion capability of the body is enhanced by the joint action of the inertia wheel and the bottom two wheels to improve the robot′s adaptability to the environment.Then,the dynamics model of the two-wheeled robot with inertia wheel on the slope is derived;on this basis,a two-wheeled robot system based on the H_(∞)robust controller is designed to achieve the self-balancing stability,robustness and immunity to disturbance.Finally,simulations and experiments verify the feasibility and effectiveness of the designed robot system:the tilt angle of the robot system is adjustable in a larger range,the control accuracy is higher,and the influence of the system due to the body vibration and external disturbance can be effectively suppressed.

关 键 词：两轮机器人 惯性轮 H_(∞)鲁棒控制 动力学建模 

分 类 号：TH166[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]