双轮自平衡机器人的鲁棒控制设计  

Robust Control Design of Two-Wheeled Self-balanced Robot

作　　者：巫佳威 Wu Jia-wei(Liuzhou Railway Vocational and Technical College,Guangxi Liuzhou 545000)

机构地区：[1]柳州铁道职业技术学院汽车与新能源汽车学院,广西柳州545000

出　　处：《内燃机与配件》2024年第23期56-58,共3页Internal Combustion Engine & Parts

摘　　要：针对双轮自平衡机器人(Two-Wheel Self-Balanced Robot,TWSBR)在运动情况下存在的自主式动态不平衡问题,提出一种闭环PID控制方法。首先,基于Simscape Multibody建立TWSBR动力学仿真模型;然后,以两轮的速度为输入,以机器人的位置和倾斜角度为输出设计用于平衡机器人的PID控制器;最后,搭建闭环仿真系统,仿真结果表明:闭环控制时,在机器人体上施加外部干扰力,导致机器人角度偏离,一旦PID控制器开始工作,系统在0.6s后迅速恢复了倾斜角度,并以恒定速度向前或向后移动,保证系统具有一定的抗干扰能力。A closed-loop PID control method is proposed to address the autonomous dynamic imbalance issue of a Two-Wheel Self-Balanced Robot(TWSBR)during motion.Firstly,a TWSBR dynamics simulation model is established using Simscape Multibody.Then,a PID controller for balancing the robot is designed,taking the speeds of the two wheels as inputs and the position and tilt angle of the robot as outputs.Finally,a closed-loop simulation system is constructed.The simulation results show that,under closed-loop control,when an external disturbance force is applied to the robot,causing it to deviate in angle,the system quickly recovers its tilt angle within 0.6 seconds once the PID controller starts operating.The robot then continues to move forward or backward at a constant speed,ensuring that the system possesses a certain level of resistance to disturbances.

关 键 词：双轮自平衡机器人 Simscape Multibody 运动稳定性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]