基于模糊PID的球形两栖机器人的设计及控制  

Design and Control of a Spherical Amphibious Robot Based on Fuzzy PID

作　　者：崔雪锴 白越[1] 裴信彪 CUI Xuekai;BAI Yue;PEI Xinbiao(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130000,China;University of Chinese Academy of Sciences,Beijing 100000,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130000 [2]中国科学院大学,北京100000

出　　处：《电光与控制》2024年第3期99-103,114,共6页Electronics Optics & Control

基　　金：国家自然科学基金(11372309,61304017);中国科学院轻型动力创新研究院创新引导基金项目(CXYJJ20-ZD-03);吉林省科技发展计划项目(20200201294JC)。

摘　　要：为了解决移动机器人对工作环境要求严格的问题,设计了一种适用于多变、狭窄环境的轻小型球形陆空两栖机器人,具有地面滚动和空中飞行两种运动模式,可以自主完成运动模式的切换。首先,设计了机器人的结构,包括滚动部分、飞行部分和模式切换部分。基于拉格朗日方法,建立了不同运动模式下的动力学模型,建立了基于欧拉方程的运动学模型。最后,根据机器人的运动模型,设计了飞行模式和地面滚动模式下的姿态控制器,并对控制器进行了仿真对比实验。在实机上进行了测试,实验结果表明,该机器人能够实现自主模式切换,在不同运动模式下运动稳定、姿态可控,在纯地面模式下具有一定的越障能力。在结构、控制方法及控制策略切换方法上对陆空两栖可变形机器人具有一定借鉴作用。In onder to solve the problem that mobile robots have strict requirements on operation environment,a light and small spherical land-air amphibious robot is designed,which can be applied to variable and narrow environments.It has two motion modes of rolling on the ground and flying in the air,and it can complete the switching of motion modes autonomously.Firstly,the structure of the robot is designed,including the rlling part,the flight part and the mode-switching part.Based on the Lagrangian method,the kinetic model in different motion modes is established,and the kinematic model based on the Euler equation is established.Finally,according to the motion models of the robot,the atitude controllers in flight mode and in ground-rolling mode are designed,and the comparative simulation experiments of the controllers are conducted.The tests were conducted on a real robot.The experimental results show that the robot can achieve autonomous mode switching and stable motion in different motion modes with contollable atiude,and has certain obstacle-crossing ability in pure ground mode.The structure,the control method and the control strategy switching method are useful for the land-air amphibious deformable robot.

关 键 词：陆空两栖机器人 地面滚动 空中飞行 自主模式切换 姿态控制 

分 类 号：TH122[机械工程—机械设计及理论] TP13[自动化与计算机技术—控制理论与控制工程]