两轮自平衡机器人重心偏移自适应控制研究  

Research on adaptive control of gravity center shift of two-wheeled self-balancing robot

作　　者：李修宇 李金凤 LI Xiu-yu;LI Jin-feng(Anhui Business and Technology College,Hefei 231131,China;Anhui University of Science&Technology,Anhui Huainan 232001,China)

机构地区：[1]安徽工商职业学院,合肥231131 [2]安徽理工大学,安徽淮南232001

出　　处：《齐齐哈尔大学学报（自然科学版）》2023年第4期1-5,10,共6页Journal of Qiqihar University(Natural Science Edition)

基　　金：2022年高校优秀青年人才支持计划项目(gxyq2022274);2022年安徽省科学研究重点项目(2022AH052792)。

摘　　要：为了提高两轮自平衡机器人重心偏移的自适应调整和控制能力,提出基于反馈均衡误差补偿和参数融合的两轮自平衡机器人重心偏移自适应控制方法。采用运动目标参数规划方法构建两轮自平衡机器人的运动学和力学模型。通过反演积分补偿控制技术,实现对两轮自平衡机器人重心偏移的反馈均衡误差补偿和参数融合调节,根据参数融合结果,实现对两轮自平衡机器人重心偏移的自适应控制。仿真实验结果表明,提出方法实现了两轮自平衡机器人的重心偏移自适应控制,并且具有良好的鲁棒性和平滑性。In order to improve the self-adaptive adjustment and control ability of gravity center deviation of two-wheeled self-balancing robot,an adaptive control method of center of gravity shift for two wheeled self-balancing robot based on feedback equalization error compensation and parameter fusion is proposed.The kinematic and mechanical models of the two-wheeled self-balancing robot are constructed by using the method of motion target parameter planning.Through the inverse integral compensation control technology,the feedback equalization error compensation and parameter fusion adjustment of the center of gravity shift of the two-wheel self-balancing robot are realized.According to the parameter fusion results,the adaptive control of the center of gravity shift of the two-wheel self-balancing robot is realized.The simulation results show that the proposed method realizes the adaptive control of the center of gravity shift of the two-wheeled self-balancing robot,and has good robustness and smoothness.

关 键 词：两轮 自平衡机器人 重心偏移 自适应控制 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]