无人自行车的自适应非奇异终端滑模平衡控制研究  

Research on Balance Control of Adaptive Non-Singular Terminal Sliding Mode for Unmanned Bicycles

作　　者：黄用华[1] 任仰华 庄未[1] 骆泽众 梁子彦 侯冬利 HUANG Yonghua;REN Yanghua;ZHUANG Wei;LUO Zezhong;LIANG Ziyan;HOU Dongli(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin 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：《测控技术》2024年第10期37-48,75,共13页Measurement & Control Technology

基　　金：国家自然科学基金(52165001,51865005,51765011);广西自然科学基金(2018GXNSFAA281297,2018GXNSFAA281301)。

摘　　要：无人自行车会受到内部参数摄动、负载扰动、外部地况变化干扰等不确定性因素的影响,为了提升系统侧向的稳定控制性能,提出一种融合自适应非奇异终端滑模控制(Adaptive Non-Singular Terminal Sliding Mode Control, ANSTSMC)和线性扩张状态观测器(Linear Expansion State Observer, LESO)的平衡运动控制方法。首先,利用无人自行车线性变参数(Linear Parameter Varying, LPV)模型设计一种LESO来估计系统的总扰动,并将观测到的扰动补偿到控制策略中;然后,结合系统状态设计自动滑模切换增益,构建自适应非奇异终端滑模控制器,迫使无人自行车状态快速收敛到竖直的平衡点。数值仿真结果表明:当受到不同负载和不同车速的参数摄动时,ANSTSMC系统仍能够在-10°~10°范围内有效地校正自行车的侧向倾角,并且相较于传统的线性二次型调节器(Linear Quadratic Regulator, LQR)、全阶滑模控制器(Full Order Sliding Mode Controller, FOSMC)和降阶滑模控制器(Reduced Order Sliding Mode Controller, ROSMC),系统收敛的快速性、稳定范围和鲁棒性都具有明显的优势。物理样机实验结果进一步证明:即使受到负载变化和地况突变冲击干扰,ANSTSMC控制器依然能够较好地使车体保持直立平衡行走,并且其侧向倾角调整的范围在-3.5°~3.5°之间。Unmanned bicycles are susceptible to the uncertainties such as internal parameter perturbations, load disturbances and external terrain and ground conditions.In order to improve the performance of stability control of the bicycles system side, a balanced motion control method integrating adaptive non-singular terminal sliding mode control(ANSTSMC) and linear expansion state observer(LESO) is proposed.Firstly, a linear parameter varying(LPV) model of an unmanned bicycle is used to to design LESO to estimate the total disturbance of the system, and the observed results are compensated into the control strategy.Then, an automatic sliding mode switching gain is designed, and an adaptive non-singular terminal sliding mode controller is constructed to force the unmanned bicycle system state to quickly converge to the vertical equilibrium point.The numerical simulation results show that ANSTSMC system can still effectively correct the side tilt angle of the bicycle within the range of-10°~10° when the parameters of different loads and different vehicle speeds are pertubed, and compared with traditional linear quadratic regulator(LQR),full order sliding mode controller(FOSMC) and reduced order sliding mode controller(ROSMC),the rapidity, stability range and robustness of the system convergence have obvious advantages.The experimental results of the physical prototype further prove that the ANSTSMC controller can keep the vehicle body upright and balanced, and its lateral tilt angle adjustment range is between-3.5°and 3.5°,even if it is affected by load changes and sudden impact of ground conditions.

关 键 词：无人自行车 平衡控制 自适应非奇异终端滑模控制 线性扩张状态观测器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]