无机械辅助结构自行车机器人控制仿真及实现  

Control Simulation and Implementation of a Bicycle Robot Without a Mechanically Assisted Structure

作　　者：艾红[1] 童璐 李成荣[2] AI Hong;TONG Lu;LI Chengrong(School of Automation,Harbin University of Science And Technology,Harbin 150080,China;Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China)

机构地区：[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080 [2]中国科学院自动化研究所,北京100190

出　　处：《信息与控制》2019年第2期187-193,201,共8页Information and Control

基　　金：国家科技支撑计划资助项目(2015BAK34B00);教育部工程科技人才培养研究专项任务(15JDGC020)

摘　　要：为实现自行车机器人的平稳直线行驶,论证了无机械辅助结构、仅靠调整车把维持自平衡的后驱自行车机器人动力学建模、姿态控制、系统仿真及实物样机实验.针对具有典型对称性欠驱动非完整约束的自行车机器人系统难于实现平衡控制问题,首先基于拉格朗日方法分析系统力学机理,建立简化动力学模型.然后基于部分反馈线性化原理,对车体横滚角与转把力矩的欠驱动子系统进行线性化处理及模糊自适应控制.仿真及实验结果表明,有效地实现了自行车机器人直线运动自平衡控制,为进一步开展自行车机器人以及其他欠驱动系统平衡运动控制奠定理论基础.We decribe the dynamics modeling,attitude control,system simulation,and prototype of a rear-wheeldrive bicycle robot without a mechanically assisted structure.The robot maintains its balance solely by the handlebars for realizing its rectilinear steady running.Furthermore,the bicycle robot is a typical asymmetric under-actuated nonholonomic constraint system that cannot balance easily.First,we establish the simplified dynamic model via system dynamic principle analysis of Lagrange formulation.Through the linearization of the under-actuated subsystem of frame rolling angle and handlebar torque,combined with a fuzzy adaptive control algorithm,the controller is constructed with partial feedback linearization.The simulation and experiment results show that balance control during the simple rectilinear motion of the bicycle robot is realized effectively.This can lay a theoretical foundation for the balance control of bicycle robots and other under-actuated systems in the future.

关 键 词：无机械辅助结构 欠驱动系统 动力学建模 模糊自适应控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]