基于模糊控制的全位移平衡机器人设计  

Design of Full Displacement Balancing Robot Based on Fuzzy Control

作　　者：刘恒[1] 李哲[1] 杨明辉[1] 邓晓刚[1] 曹玉苹[1] LIU Heng;LI Zhe;YANG Minghui;DENG Xiaogang;CAO Yuping(College of Control Science and Engineering,China University of Petroleum(East China),Qingdao 266580,China)

机构地区：[1]中国石油大学(华东)控制科学与工程学院,山东青岛266580

出　　处：《测控技术》2023年第7期102-109,共8页Measurement & Control Technology

基　　金：山东省自然科学基金项目(ZR2020MF093);山东省研究生教育优质课程(SDYKC20026);中石油重大科技合作项目(ZD2019-183-003)。

摘　　要：设计了一种模糊控制的四轮全位移平衡机器人,通过SolidWorks改进设计了基于麦克纳姆轮的全位移平衡底盘、双轴云台等机械结构。以Altium Designer为开发平台设计了STM32F405核心板主控,外设电路设计主要包括:ICM20948传感器电路、CAN通信差分电路等。使用Simulink对算法进行仿真验证,云台控制算法使用了串级PID控制,底盘通过HI220陀螺仪传感器结合模糊控制算法实现平衡及运动。最终制作出了实体机器人并对模糊控制算法进行了验证,与传统PID算法相比,基于模糊控制的平衡机器人在响应速度、鲁棒性、稳定性等方面均有一定的提升。相比于传统四轮机器人,制作的平衡机器人能够更好地通过狭小的空间,对环境的适应性更强。A four-wheel full displacement balancing robot with fuzzy control is designed.Through SolidWorks,mechanical structures such as full displacement balancing chassis and biaxial head are designed based on McNam wheel.STM32F405 core board main control is designed with Altium Designer as the development platform,and the peripheral circuit design mainly includes:ICM20948 sensor circuit,CAN communication differential circuit,etc.Simulink is used to simulate and verify the algorithm,the gimbal control algorithm uses cascade PID control,and the chassis is balanced and kinematic by using the HI220 gyroscope sensor combined with fuzzy control algorithm.Finally,a solid robot is produced and the fuzzy control algorithm is verified.Compared with the traditional PID algorithm,the balanced robot has certain improvement in response speed,robustness and stability.Compared with the traditional four-wheel robot,the balancing robot can better pass through the small space and has stronger adaptability to the environment.

关 键 词：模糊控制 视觉识别 全位移 平衡机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]