| 复杂环境下两轮自平衡机器人稳定控制研究 |
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| 引用本文： | 阮晓钢, 陈静, 蔡建羡, 李欣源. 复杂环境下两轮自平衡机器人稳定控制研究[J]. 北京工业大学学报, 2011, 37(9): 1310-1316. |
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| 作者姓名： | 阮晓钢 陈静 蔡建羡 李欣源 |
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| 作者单位： | 北京工业大学电子信息与控制工程学院,北京,100124;北京工业大学电子信息与控制工程学院,北京,100124;北京工业大学电子信息与控制工程学院,北京,100124;北京工业大学电子信息与控制工程学院,北京,100124 |
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| 基金项目： | 国家“八六三”计划资助项目(2007AA04Z226);国家自然科学基金资助项目(6077407761075110);北京市教委重点项目(KZ200810005002);北京市自然科学基金项目(4102011) |
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| 摘 要： | 针对两轮自平衡机器人在控制过程中的抖动现象,采用一种快速跟踪的有限记忆递推最小二乘估计方法,实现系重心偏移角的参数辨识.仿真表明,在参数突然变化时,该方法能快速辨识系统参数.通过增加一个惯导元件,用一个倾角仪A中采集的数据辨识出的偏移角对另一个倾角仪B的零位进行修正,将B采集的数据反馈到控制器中,对机器人实施平衡控制.分析表明,考虑重心偏移的控制策略是一种自适应的控制方法,能有效去除抖动现象,提高两轮自平衡机器人平衡控制的鲁棒性.
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| 关 键 词： | 两轮自平衡机器人 重心偏移 参数估计 递推最小二乘法 平衡控制 惯导元件 |
| 收稿时间： | 2009-05-30 |
Research on Stable Control for Two-wheeled Self-balancing Robot in Complex Environment |
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| RUAN Xiao-gang, CHEN Jing, CAI Jian-xian, LI Xin-yuan. Research on Stable Control for Two-wheeled Self-balancing Robot in Complex Environment[J]. Journal of Beijing University of Technology, 2011, 37(9): 1310-1316. |
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| Authors: | RUAN Xiao-gang CHEN Jing CAI Jian-xian LI Xin-yuan |
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| Affiliation: | RUAN Xiao-gang1,CHEN Jing1,CAI Jian-xian1,2,LI Xin-yuan1(1.College of Electronic Information and Control Engineering,Beijing University of Technology,Beijing 100124,China; 2.College of Tech.of Disater Prevention,Langfang 065201,Hebei,China) |
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| Abstract: | Based on the chattering phenomena in the control of the Two-Wheeled Self-Balancing Robot,a kind of fast tracking time limited recursive least square estimation method was proposed to implement the barycenter offset identification of the robot.The result of simulation shows that,this method can estimate the parameter very fast in the sudden change of the parameter.By adding a inertial device of inclinometer,the zero position of inclinometer B can be adjusted t by using the offset angle which was acquired from the data of inclinometer A,and the data acquired from the data of inclinometer B was used as the input of the feedback controller and carry out the balancing control of robot.The analysis shows that this control strategy considering the barycenter offset is a kind of adaptation control method,can effectively remove the chattering phenomena,and then improve the robustness of the balancing control for the Two-Wheeled Self-Balancing Robot. |
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| Keywords: | two-wheeled self-balancing robot barycenter offset parameter estimation recursive least square method balancing control inertial device |
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