轮腿式平衡机器人的控制系统  

Control System of Wheel-Legged Balance Robot

作　　者：葛畅畅 孟鸿儒 张余浩 蓝昀 俞天鹏 张鹏 陈劲松 GE Changchang;MENG Hongru;ZHANG Yuhao;LAN Yun;YU Tianpeng;ZHANG Peng;CHEN Jinsong(College of Innovation and Entrepreneurship,Jiangsu Ocean University,Lianyungang,Jiangsu 222005,China)

机构地区：[1]江苏海洋大学创新创业学院,江苏连云港222005

出　　处：《自动化应用》2025年第5期30-33,共4页Automation Application

摘　　要：主要介绍了轮腿式平衡机器人的数学模型,采用线性二次型调节器(LQR)算法设计了轮式运动控制器,采用虚拟模型控制(VMC)算法设计了腿部运动控制器。设计过程均是先根据动力学方程建立控制模型,再使用Simulink搭建控制方框图进行仿真计算,最后根据仿真结果调整控制参数,分析本系统在该参数下的控制效果,以保障机器人在各个高度下均能实现良好的控制效果。轮腿式平衡机器人采用轮腿构型,可在具有轮驱的高能效优点的同时收获腿带来的良好地形适应性,能极大程度提升倒立摆机器人的运动表现。This paper primarily introduces the mathematical model of a wheel-legged balance robot.It designs a wheel motion controller using the Linear Quadratic Regulator(LQR)algorithm and a leg motion controller utilizing the Virtual Model Control(VMC)algorithm.Both design processes begin by establishing a control model based on dynamic equations,then proceed to set up control block diagrams in Simulink for simulation calculations.Finally,according to the simulation results,control parameters are adjusted to analyze the control effectiveness of the system under those parameters,ensuring that the robot achieves optimal control performance at various heights.The wheel-legged balance robot adopts a wheel-legged configuration.It can inherit the high energy efficiency of wheel-driven systems while gaining the exceptional terrain adaptability provided by legs,significantly enhancing the motion performance of the inverted pendulum robot.

关 键 词：五连杆式轮腿结构 运动控制 算法 平衡稳定 MATLAB Simulink 线性二次型调节器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]