单球自平衡移动机器人系统建模与自平衡控制研究
发布时间：2018-11-09 12:06
【摘要】：单球自平衡移动机器人源于倒立摆模型,是一个典型的多变量、非线性、高阶次、强耦合和静态不稳定系统。单球自平衡移动机器人模型的控制理论,也被广泛的应用于机器人及人工智能控制、导弹拦截及空间站的对接控制、火箭发射及航天器飞行中的姿态控制等领域。本文针对单球自平衡移动机器人的自平衡控制问题,研制了物理样机,并对样机进行了力学建模与控制算法的研究,取得了以下主要研究成果:首先,通过对单球自平衡移动机器人机械结构及运动特性的研究,同时参考“Rezero”机器人的设计,建立起了单球自平衡移动机器人的物理样机。建立的物理样机在机械结构上将三个全向轮轴线与铅垂线之间的夹角设计的更小,使全向轮与驱动球体之间的有效摩擦力更大,运动的传递效率也更高。此外,单球自平衡移动机器人整个控制系统的主控制器使用的是美国TI公司生产的型号为TMS320FC28335的高速DSP(数字信号处理器)开发板,同时以超核电子推出的一款高性能九轴姿态传感器作为检测装置,从而使整个单球自平衡移动机器人控制系统响应速度更快、精度与效率都更高。其次,在系统分析和研究单球自平衡移动机器人机械结构的基础上将单球自平衡移动机器人模型等效为原理简单、理论成熟的一级倒立摆模型及IASMP(Inverse Atlas Spherical Motion Platform)模型,极大地提高了单球自平衡移动机器人系统建模的准确性与可靠性。同时利用欧拉-拉格朗日方程与雅可比矩阵分别对单球自平衡移动机器人进行了动力学与运动学建模,并将建立的动力学方程在系统状态零点附近进行了线性化处理得到了线性化模型,最后对线性化模型进行了能控性、能观性及稳定性分析。然后,针对单球自平衡移动机器人的自平衡控制(包括位置控制与倾角控制)问题设计了结构简单、应用广泛的PID与LQR两种控制算法。其中PID控制算法主要对单球自平衡移动机器人的位置进行控制、LQR控制算法主要对单球自平衡移动机器人的倾角进行控制。同时运用MATLAB/SIMULINK软件分别对PID与LQR两种控制算法的控制效果进行了仿真与分析。最后,根据单球自平衡移动机器人自平衡控制的需求设计了单球自平衡移动机器人倾角控制程序、位置控制程序及运动转换程序。同时对搭建的控制系统的软硬件都进行了在线调试,并将控制算法编写成CCS(DSP编程软件)程序代码烧入DSP主控制器中对单球自平衡移动机器人样机进行了实验分析,验证了所设计的控制算法的有效性。
[Abstract]:The single-ball self-balancing mobile robot is a typical multi-variable, nonlinear, high-order, strongly coupled and static unstable system, which originates from the inverted pendulum model. The control theory of single-ball self-balancing mobile robot model is also widely used in robot and artificial intelligence control missile interception and docking control of space station rocket launch and attitude control in spacecraft flight. In this paper, a physical prototype is developed for the self-balancing control of a single-ball self-balancing mobile robot, and the mechanical modeling and control algorithm of the prototype is studied. The main research results are as follows: first of all, By studying the mechanical structure and motion characteristics of a single ball self-balancing mobile robot and referring to the design of "Rezero" robot, the physical prototype of a single ball self-balancing mobile robot is established. The mechanical structure of the physical prototype is designed to make the angle between the three omnidirectional axle lines and the lead vertical line smaller, so that the effective friction between the omnidirectional wheel and the driving sphere is greater, and the transfer efficiency of motion is also higher. In addition, the main controller of the whole control system of a single ball self-balancing mobile robot is a high-speed DSP (Digital signal processor) development board, which is made by TI Company of the United States, and is a model of TMS320FC28335. At the same time, a high-performance nine-axis attitude sensor developed by super-nuclear electron is used as the detection device, which makes the control system of the self-balancing mobile robot with single ball faster response speed, higher precision and higher efficiency. Secondly, on the basis of systematic analysis and research on the mechanical structure of single-ball self-balancing mobile robot, the model of single-ball self-balancing mobile robot is equivalent to the first-order inverted pendulum model and IASMP (Inverse Atlas Spherical Motion Platform) model with simple principle and mature theory. The accuracy and reliability of single ball self-balanced mobile robot system modeling are greatly improved. At the same time, using Euler-Lagrangian equation and Jacobian matrix, the dynamics and kinematics of single-sphere self-balancing mobile robot are modeled. The linearization model is obtained by linearizing the dynamic equation near the zero point of the system. Finally, the controllability, observability and stability of the linearization model are analyzed. Then, two control algorithms, PID and LQR, which are simple in structure and widely used, are designed for the self-balancing control (including position control and inclination control) of a single-ball self-balancing mobile robot. The PID control algorithm mainly controls the position of the single-ball self-balancing mobile robot, and the LQR control algorithm mainly controls the inclination of the single-ball self-balancing mobile robot. At the same time, the control effect of two control algorithms, PID and LQR, is simulated and analyzed by using MATLAB/SIMULINK software. Finally, according to the requirement of self-balancing control of single-ball self-balancing mobile robot, the control program of inclination angle, position control program and motion conversion program of single-ball self-balancing mobile robot are designed. At the same time, the software and hardware of the control system are debugged on line, and the control algorithm is written into the CCS (DSP programming software. The program code is burned into the DSP master controller and the experimental analysis of the single-ball self-balancing mobile robot prototype is carried out. The effectiveness of the proposed control algorithm is verified.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2320367
[Abstract]:The single-ball self-balancing mobile robot is a typical multi-variable, nonlinear, high-order, strongly coupled and static unstable system, which originates from the inverted pendulum model. The control theory of single-ball self-balancing mobile robot model is also widely used in robot and artificial intelligence control missile interception and docking control of space station rocket launch and attitude control in spacecraft flight. In this paper, a physical prototype is developed for the self-balancing control of a single-ball self-balancing mobile robot, and the mechanical modeling and control algorithm of the prototype is studied. The main research results are as follows: first of all, By studying the mechanical structure and motion characteristics of a single ball self-balancing mobile robot and referring to the design of "Rezero" robot, the physical prototype of a single ball self-balancing mobile robot is established. The mechanical structure of the physical prototype is designed to make the angle between the three omnidirectional axle lines and the lead vertical line smaller, so that the effective friction between the omnidirectional wheel and the driving sphere is greater, and the transfer efficiency of motion is also higher. In addition, the main controller of the whole control system of a single ball self-balancing mobile robot is a high-speed DSP (Digital signal processor) development board, which is made by TI Company of the United States, and is a model of TMS320FC28335. At the same time, a high-performance nine-axis attitude sensor developed by super-nuclear electron is used as the detection device, which makes the control system of the self-balancing mobile robot with single ball faster response speed, higher precision and higher efficiency. Secondly, on the basis of systematic analysis and research on the mechanical structure of single-ball self-balancing mobile robot, the model of single-ball self-balancing mobile robot is equivalent to the first-order inverted pendulum model and IASMP (Inverse Atlas Spherical Motion Platform) model with simple principle and mature theory. The accuracy and reliability of single ball self-balanced mobile robot system modeling are greatly improved. At the same time, using Euler-Lagrangian equation and Jacobian matrix, the dynamics and kinematics of single-sphere self-balancing mobile robot are modeled. The linearization model is obtained by linearizing the dynamic equation near the zero point of the system. Finally, the controllability, observability and stability of the linearization model are analyzed. Then, two control algorithms, PID and LQR, which are simple in structure and widely used, are designed for the self-balancing control (including position control and inclination control) of a single-ball self-balancing mobile robot. The PID control algorithm mainly controls the position of the single-ball self-balancing mobile robot, and the LQR control algorithm mainly controls the inclination of the single-ball self-balancing mobile robot. At the same time, the control effect of two control algorithms, PID and LQR, is simulated and analyzed by using MATLAB/SIMULINK software. Finally, according to the requirement of self-balancing control of single-ball self-balancing mobile robot, the control program of inclination angle, position control program and motion conversion program of single-ball self-balancing mobile robot are designed. At the same time, the software and hardware of the control system are debugged on line, and the control algorithm is written into the CCS (DSP programming software. The program code is burned into the DSP master controller and the experimental analysis of the single-ball self-balancing mobile robot prototype is carried out. The effectiveness of the proposed control algorithm is verified.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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