基于Beaglebone Black的轮式倒立摆机器人的轨迹线性化控制
发布时间：2018-08-17 18:55
【摘要】：两轮自平衡倒立摆式机器人系统具有强非线性、多变量和本质不稳定性的特点,可以用于验证各种控制算法的有效性。轮式倒立摆的体积小、结构简单和灵活性强,可以在狭小的空间或者相对危险的地方工作,能够载人载物,并具有较低耗能。由于其自身的动力学特性和广泛的应用场合,两轮自平衡倒立摆式机器人系统的控制研究得到越来越多研究者的关注。本文以基于Beaglebone Black的轮式倒立摆为研究对象,针对倒立摆的轨迹线性化控制问题进行了研究。模型是控制问题中基础而关键的部分,为了获得准确的模型,本文使用辨识的方法建立轮式倒立摆的模型。通过对倒立摆输入输出数据的计算,得到了适合的模型。研究轮式倒立摆的轨迹线性化问题。通过对轨迹线性化方法的基本理论和设计思想进行分析后,设计了轮式倒立摆的轨迹线性化方案,通过仿真验证了轨迹线性化方法的有效性。最后,通过编程和调试,在基于BeaglebonBlack的轮式倒立摆机器人上实现了轨迹线性化控制。
[Abstract]:The two-wheel self-balancing inverted pendulum robot system has the characteristics of strong nonlinearity, multivariable and essential instability, which can be used to verify the effectiveness of various control algorithms. The wheel inverted pendulum is small in size, simple in structure and flexible, it can work in narrow space or relatively dangerous place, can carry people and has low energy consumption. Due to its own dynamic characteristics and wide applications, the control of two-wheel self-balancing inverted pendulum robot has attracted more and more researchers' attention. In this paper, the trajectory linearization control of inverted pendulum based on Beaglebone Black is studied. The model is the basic and key part of the control problem. In order to obtain the accurate model, the identification method is used to establish the model of the wheel inverted pendulum. By calculating the input and output data of inverted pendulum, a suitable model is obtained. The trajectory linearization of wheel inverted pendulum is studied. After analyzing the basic theory and design idea of trajectory linearization method, the trajectory linearization scheme of wheel inverted pendulum is designed, and the validity of trajectory linearization method is verified by simulation. Finally, through programming and debugging, the trajectory linearization control is realized on the wheel inverted pendulum robot based on BeaglebonBlack.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
[Abstract]:The two-wheel self-balancing inverted pendulum robot system has the characteristics of strong nonlinearity, multivariable and essential instability, which can be used to verify the effectiveness of various control algorithms. The wheel inverted pendulum is small in size, simple in structure and flexible, it can work in narrow space or relatively dangerous place, can carry people and has low energy consumption. Due to its own dynamic characteristics and wide applications, the control of two-wheel self-balancing inverted pendulum robot has attracted more and more researchers' attention. In this paper, the trajectory linearization control of inverted pendulum based on Beaglebone Black is studied. The model is the basic and key part of the control problem. In order to obtain the accurate model, the identification method is used to establish the model of the wheel inverted pendulum. By calculating the input and output data of inverted pendulum, a suitable model is obtained. The trajectory linearization of wheel inverted pendulum is studied. After analyzing the basic theory and design idea of trajectory linearization method, the trajectory linearization scheme of wheel inverted pendulum is designed, and the validity of trajectory linearization method is verified by simulation. Finally, through programming and debugging, the trajectory linearization control is realized on the wheel inverted pendulum robot based on BeaglebonBlack.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
【参考文献】
相关期刊论文 前9条
1 降晨星;苏波;冯石柱;康晓;马睿t，
本文编号：2188579
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