一种多态自平衡车机器人的样机设计与控制实验研究

发布时间：2018-04-07 18:37

本文选题：多态自平衡车机器人　切入点：查浦雷金方法　出处：《桂林电子科技大学》2017年硕士论文

【摘要】：自行车机器人和独轮车机器人作为轮式机器人的代表,具有车体狭小、结构简单、运动灵活等特点,既深受广大机器人爱好者的喜欢,也吸引着众多国内外研究者的目光,将其视为研究控制理论的理想平台。目前,单独针对自行车机器人和独轮车机器人的研究比较多,而对可以同时实现两者功能的研究相对较少。本文提出一种多态自平衡车机器人,该机器人兼具了自行车机器人和独轮车机器人的结构特点,不仅可以处于自行车或者独轮车模式单独运行,又可以灵活的在这两种模式之间切换。论文以这种机器人为对象,围绕着动力学建模和控制算法两个方面展开,主要工作如下:(1)根据多态自平衡车机器人的结构特点,首先,分别设计了多态自平衡车机器人自行车态和独轮车态下的机构简图;然后,对这两种形态依次进行运动学和动力学分析,并基于查浦雷金方法建立它们的动力学模型;最后,通过逆动力学仿真来验证动力学模型计算的正确性。(2)设计并搭建完成多态自平衡车机器人的物理样机一台,包括机构本体和测控系统两部分。机构本体包括3个薄饼电机和1个步进电机,分别通过齿轮和同步带传递动力。测控系统以TMS320F28335数字信号处理器(DSP)为核心,包括惯性测量单元、光电编码器、电流传感器、无线通讯模块、直流稳压模块以及动力锂电池等,采用RS232总线方式串行连接4个电机驱动器。(3)对多态自平衡车机器人自行车态下的动力学模型进行解耦,采用线性二次型调节器(LQR)的方法设计多态自平衡车机器人自行车态下4种平衡运动的仿真分析与样机实验的控制器,4种平衡运动控制分别为:90/45??定车运动平衡控制、90/45??圆周回转运动平衡控制。通过Matlab/simulink仿真分析与物理样机实验相结合的方法验证了所设计控制策略的可行性与正确性。(4)采用LQR的控制方法,研究车架质心位置变化对多态自平衡车机器人自行车态下的圆周回转运动的影响,具体为:车架质心位置横、纵向变化对90/45??圆周回转运动平衡控制的影响。通过Matlab/simulink仿真分析了车架质心位置变化时,90/45??圆周回转运动平衡控制的影响,并进行了车架质心位置横、纵向变化时,90?圆周回转运动的物理样机实验研究。(5)对多态自平衡车机器人独轮车态下的动力学模型进行解耦,采用部分反馈线性化的控制原理,设计了动态俯仰平衡运动控制器,并通过Matlab与Adams联合仿真验证所设计控制策略的可行性与正确性。
[Abstract]:As the representative of wheeled robot, bicycle robot and unicycle robot have the characteristics of small body, simple structure, flexible movement and so on. They are loved by many robot enthusiasts and attract the attention of many researchers at home and abroad.It is regarded as an ideal platform for studying control theory.At present, there are many researches on bicycle robot and unicycle robot alone, but there are few researches on how to realize the two functions simultaneously.In this paper, a polymorphic self-balancing vehicle robot is proposed. The robot has the structural characteristics of both the bicycle robot and the unicycle robot, which can not only be operated separately in the bicycle or unicycle mode.It is also flexible to switch between the two modes.This paper focuses on the dynamics modeling and control algorithm. The main work is as follows: 1) according to the structural characteristics of the polymorphic self-balancing vehicle robot, first of all,Then, kinematics and dynamics analysis of the two kinds of robot are carried out in turn, and their dynamic models are established based on Chaplerkin's method.The inverse dynamics simulation is used to verify the correctness of the dynamic model calculation. (2) A physical prototype of a polymorphic self-balancing vehicle robot is designed and built, which includes two parts: the mechanism body and the measurement and control system.The mechanism body consists of three pancake motors and one stepping motor, which transfer power through gear and synchronous belt respectively.The measurement and control system takes TMS320F28335 digital signal processor (DSP) as the core, including inertial measurement unit, photoelectric encoder, current sensor, wireless communication module, DC stabilized voltage module and power lithium battery, etc.The dynamic model of a polymorphic self-balancing robot under bicycle state is decoupled by serial connection of four motor drivers with RS232 bus mode.Using the method of Linear Quadratic regulator (LQR) to design the simulation analysis of four kinds of equilibrium motion of a polymorphic self-balancing robot under the bicycle state and the controller of the prototype experiment four kinds of balancing motion control are: 90 / 45?Fixed vehicle motion balance control 90 / 45?Circumferential rotation motion balance control.The feasibility and correctness of the designed control strategy is verified by combining the Matlab/simulink simulation analysis with the physical prototype experiment.This paper studies the influence of the change of the center of mass of the frame on the circumferential rotation motion of the robot bicycle under the condition of polymorphic self-balancing vehicle. The concrete results are as follows: the position of the center of mass of the frame is transverse and the longitudinal change has the effect on the 90 / 45?The influence of circumferential rotation motion balance control.Through Matlab/simulink simulation, the change of mass center position of the frame is analyzed when 90 / 45?The influence of the balance control of the circumferential rotation motion is carried out, and the position of the center of mass of the frame is transverse and the longitudinal change is 90?The physical prototype experiment of circumferential rotation. 5) decoupling the dynamic model of a polymorphic self-balancing robot in the state of a unicycle, and using the control principle of partial feedback linearization, a dynamic pitching balancing motion controller is designed.The feasibility and correctness of the proposed control strategy are verified by combined simulation of Matlab and Adams.
【学位授予单位】：桂林电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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