独轮机器人的平衡控制方案分析  

Analysis of Balance Control Scheme for One Wheel Robot

作　　者：何金林 柴江帆 HE Jinlin;CHAI Jiangfan(School of Electronic and Information Engineering,Liaoning Technical University,Liaoning 125105,China;School of Electrical and Control Engineering,Liaoning Technical University,Liaoning 125105,China.)

机构地区：[1]辽宁工程技术大学电子与信息工程学院,辽宁125105 [2]辽宁工程技术大学电气与控制工程学院,辽宁125105

出　　处：《电子技术(上海)》2025年第1期430-432,共3页Electronic Technology

摘　　要：阐述基于独轮设计的控制系统方案。分析该方案对独轮机器人控制特性的影响及其在物理层面的可行性。该独轮机器人通过陀螺仪实时采集车体姿态信息,并采用三串级PID闭环控制方案,分别控制独轮机器人两侧的角动量轮和底部有刷电机。通过角动量轮的控制实现整体角动量守恒,同时通过调节有刷电机的转速实现独轮机器人在两个维度上的平衡,从而完成行进与转向功能。This paper describes a control system scheme based on a single wheel design.It analyzes the impact of the proposed solution on the control characteristics of the unicycle robot and its feasibility at the physical level.The unicycle robot collects real-time vehicle attitude information through a gyroscope and adopts a three-stage PID closed-loop control scheme to control the angular momentum wheels on both sides of the unicycle robot and the bottom brushed motor.It achieves overall conservation of angular momentum through the control of the angular momentum wheel,while adjusting the speed of the brushed motor to balance the single wheel robot in two dimensions,thus completing thefunctions of travel and steering.

关 键 词：独轮机器人 PID控制 角动量守恒 智能车竞赛 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]