单球机器人动力学与控制研究

发布时间：2018-05-27 23:32

本文选题：单球机器人 + 动力学模型　；参考：《西南交通大学》2017年硕士论文

【摘要】：单球机器人是一种本征不稳定的动平衡机器人,它与地面单点接触,运动灵活,同时具有多变量、高度非线性、时变等特点,近年来成为轮式机器人领域研究的热点。相对于传统轮式机器人而言,单球机器人转弯半径几乎为零,可以在任何时候转向任意方向,同时在机械结构上的纤细苗条的特点使得该机器人能够在狭窄的空间工作,因而具有广泛的应用前景。本文旨在研究单球机器人动力学与控制模型,为最终实现机器人的平稳的自主移动奠定基础。通过对单球机器人的运动规律进行研究,将该机器人的运动分解到惯性坐标系三个平面,并在这三个平面分别对机器人的动能和势能进行数学建模,再根据拉格朗日方程建立机器人的动力学模型。在平衡点附近对机器人的非线性数学模型进行线性化,得出对应的状态方程,在此基础上对系统进行能控性和能观性分析。对机器人的平衡控制的研究,本文提出LQR结合PID的控制算法模型,对机器人的XOZ和YOZ平面采用LQR最优控制算法,而将PID控制算法应用到机器人的XOY平面,在Matlab-Simulink软件平台上对机器人系统平面模型的状态方程进行控制算法效果研究。达到满意的控制效果后,采用Matlab-Simulink软件和Adams软件进行联合仿真实验,经过反复多次的参数调整,结果显示所设计的控制器对于高阶非线性单球机器人系统的控制能够达到理想的效果。
[Abstract]:Single-ball robot is a kind of inherently unstable dynamic balancing robot. It has the characteristics of single point contact with the ground, flexible motion, multivariable, highly nonlinear and time-varying, etc. In recent years, it has become a hotspot in the field of wheeled robot. Compared with the traditional wheeled robot, the single-ball robot has a turning radius of almost zero, and can turn in any direction at any time, while the slender and slender mechanical structure enables the robot to work in a narrow space. Therefore, it has a wide application prospect. The purpose of this paper is to study the dynamics and control model of a single ball robot, so as to lay a foundation for the ultimate smooth autonomous movement of the robot. By studying the motion law of a single ball robot, the motion of the robot is decomposed into three planes of inertial coordinate system, and the kinetic energy and potential energy of the robot are modeled in these three planes, respectively. Then the dynamic model of the robot is established according to Lagrange equation. The nonlinear mathematical model of the robot is linearized near the equilibrium point and the corresponding equation of state is obtained. On this basis, the controllability and observability of the system are analyzed. In this paper, LQR combined with PID's control algorithm model is proposed, and the LQR optimal control algorithm is applied to the XOZ and YOZ plane of the robot, and the PID control algorithm is applied to the XOY plane of the robot. The control algorithm of the state equation of the planar model of the robot system is studied on the platform of Matlab-Simulink software. After the satisfactory control effect is achieved, the Matlab-Simulink software and Adams software are used to carry out the joint simulation experiment, and the parameters are adjusted repeatedly and many times. The results show that the designed controller can achieve ideal results for the control of high-order nonlinear single-ball robot systems.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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