变结构两轮车机器人的设计与运动控制研究

发布时间：2018-07-15 20:21

【摘要】：变结构两轮车机器人是两车轮前后分布的自行车和两车轮左右分布的Segway两者相结合的产物,是两轮车家族中的一名新成员。这种机器人可通过改变两侧车把转角的大小,使系统工作于不同的工作模式以适应不同的地形环境和任务要求。变结构两轮车机器人的研究是一个系统工程,而平衡控制则是其中的基础。本文主要针对系统在工作模式动态切换中涉及的一些平衡问题展开研究,主要完成如下工作:(1)对变结构两轮车机器人进行了运动学和动力学分析,根据车轮与地面纯滚动假设以及两车轮质心速度关系推导出系统的完整约束和非完整约束,采用查浦雷金方法建立系统的动力学模型。基于该模型分析了部分状态下车轮驱动力矩与车架俯仰角、车把转角、车把转角速度的关系。(2)设计并搭建了变结构两轮车机器人的物理样机,包括机械本体和测控系统平台,其中,测控系统以工控机(IPC)和数字信号处理器(DSP)为控制核心,综合惯性测量单元(IMU)、光电编码器、电流传感器获取系统的状态变量,采用ZigBee无线模块完成数据的上传和控制指令的下达;采用VS2010、MATLAB GUI等开发工具完成了变结构两轮车机器人上位机监控程序的开发,为系统实验操作分析设计了一个方便简洁的人机交互界面。(3)针对在同步转动车把情况下进行模式切换的特殊情形,对系统力学模型进行降维,得到固定车把下的力学模型;基于部分反馈线性化方法设计变结构两轮车机器人固定车把为0?45??、时的定车运动平衡控制器,对固定车把下的定车平衡运动控制进行了数值仿真和物理样机实验研究,实现了几组固定角度下的定车平衡运动控制。(4)对车把在一定范围内摆动的原地模式切换问题进行了研究,基于部分反馈线性化方法设计变结构两轮车机器人模式切换运动的平衡控制器,并引入模糊方法对控制器的参数进行在线整定提高系统的鲁棒性;对系统进行了数值仿真和物理样机实验研究,实现了车把摆动情况下的原地模式切换运动控制。(5)对车把在一定范围内摆动的行进中模式切换问题进行了研究,在原地模式切换基础上,调整车架俯仰角和车轮速度期望值,完成了行进中模式切换运动的平衡控制器设计,并进行数值仿真和物理样机实验研究,实现了车把在一定转角范围内摆动的行进中模式切换运动控制。本论文对变结构两轮车机器人的力学模型、一定车把转角范围下的模式切换问题进行了研究,并从仿真实验与样机实验两个方面实现了几组固定车把角度下的定车运动控制和一定车把转角范围内摆动的模式切换运动平衡控制,为变结构两轮车机器人的模式切换、轨迹跟踪控制等进一步研究提供参考。
[Abstract]:The variable structure two-wheeled vehicle robot is a new member of the two-wheeled vehicle family, which is a combination of the bicycle with two front and rear wheels and the Segway with the left and right distribution of the two wheels. This kind of robot can work in different working modes by changing the angle of the two sides of the handlebars to adapt to different terrain environment and task requirements. The research of variable structure two-wheeled vehicle robot is a system engineering, and balance control is the foundation of it. In this paper, some balance problems involved in the dynamic switching of the system are studied. The main work is as follows: (1) Kinematics and dynamics analysis of the variable structure two-wheeled robot is carried out. Based on the assumption of pure rolling between the wheel and the ground and the relationship between the centroid velocity of the two wheels, the complete and nonholonomic constraints of the system are derived, and the dynamic model of the system is established by using the Chaplerkin method. Based on the model, the relationship between wheel driving torque and pitch angle of frame and angular speed of handlebars is analyzed. (2) the physical prototype of two-wheeled robot with variable structure is designed and built, including the mechanical body and the platform of measurement and control system. The measurement and control system takes industrial control computer (IPC) and digital signal processor (DSP) as the control core, integrated inertial measurement unit (IMU), photoelectric encoder and current sensor to obtain the state variables of the system. ZigBee wireless module is used to complete the data upload and control instruction, and VS2010 MATLAB GUI is used to develop the monitor program of the upper computer of the variable structure two-wheeled vehicle robot. A simple man-machine interface is designed for the analysis of system experimental operation. (3) aiming at the special situation of mode switching under synchronous rotating handlebars, the mechanical model of the system is reduced and the mechanical model under the fixed handlebars is obtained. Based on the partial feedback linearization method, a fixed vehicle motion balance controller is designed for a variable structure two-wheeled robot with a fixed handle of 0.45%. The numerical simulation and physical prototype experiments are carried out for the fixed-vehicle balancing motion control under the fixed handlebar. In this paper, several groups of stationary motion control with fixed angle are realized. (4) the in-situ mode switching problem in which the handlebars are swinging in a certain range is studied. Based on the partial feedback linearization method, a balance controller for the mode switching motion of a variable structure two-wheeled robot is designed, and the fuzzy method is introduced to improve the robustness of the system by on-line tuning the parameters of the controller. Numerical simulation and physical prototype experiments are carried out to realize the in-situ mode switching motion control under the condition of vehicle handlebars swinging. (5) the problem of mode switching when the handlebars are swinging in a certain range is studied. On the basis of in-situ mode switching, adjusting the pitch angle of the frame and the expected value of the wheel speed, the balance controller of the moving mode switching motion is designed, and the numerical simulation and the physical prototype experiment are carried out. The mode switching motion control of the handlebar swinging in a certain angle range is realized. In this paper, the mechanical model of a variable structure two-wheeled vehicle robot and the mode switching problem in a certain angle range of the handlebars are studied. From two aspects of simulation experiment and prototype experiment, several groups of fixed vehicle motion control under fixed handle angle and mode switching motion balance control with swing in certain angle range of vehicle handle are realized, which is the mode switching control of variable structure two-wheeled robot. Further research on trajectory tracking control provides reference.
【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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