| 自平衡机器人的模糊-PD控制 |
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| 引用本文： | 李鹏,郝骞,任一峰,陆静逸.自平衡机器人的模糊-PD控制[J].电子测试,2011(7):97-100. |
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| 作者姓名： | 李鹏 郝骞 任一峰 陆静逸 |
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| 作者单位： | 中北大学信息与通信工程学院,太原,030051 |
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| 摘 要： | 由于自平衡机器人是一种两轮左右平行布置的机器人,像传统的倒立摆一样,它的本身是一个自然不稳定体,必须要施加强有力的控制手段才能使之稳定.为了提高两轮自平衡机器人设计的可靠性,针对不稳定、非线性、强耦合的两轮自平衡机器人系统,运用牛顿力学方法建立了转向运动的数学模型.在模型中建立了模糊控制器,并用模糊控制加比例控制的方法...
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| 关 键 词： | 自平衡机器人 模糊控制 牛顿力学 PD |
Self-balancing fuzzy-PD control of robot |
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| Li Peng,Hao Qian,Ren Yifeng,Lu Jingyi.Self-balancing fuzzy-PD control of robot[J].Electronic Test,2011(7):97-100. |
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| Authors: | Li Peng Hao Qian Ren Yifeng Lu Jingyi |
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| Affiliation: | Li Peng,Hao Qian,Ren Yifeng,Lu Jingyi (North University of Information and Communication Engineering Taiyuan 030051) |
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| Abstract: | Two rounds of self-balancing robot is a parallel arrangement of the robot around, the same as the traditional inverted pendulum, which in itself is a natural instability of the body, we must exert a powerful means of control to make it stable. In order to improve the reliability of self-balancing robot, for instability, nonlinear and strongly coupled two self-balancing robot system, the use of Newton's mechanics to establish the mathematical model of steering motion. A fuzzy controller in the model, and pro... |
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| Keywords: | self-balancing robot fuzzy control newtonian mechanics PD |
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