基于非线性PID的柔性两轮机器人运动控制

柔性两轮机器人是一种不稳定、非线性、强耦合系统。该系统的突出特点是在机器人的腰部装有柔性的机体结构,能够更好地模拟人和动物的生物动力学特性,具有更好的仿生性质,同时,系统的控制难度显著增大,为使机器人能够平衡直立运动,且具有较强的鲁棒性,提出了非线性PD的姿态平衡控制方法,实现了机器人的姿态平衡,并同时设计了PID航向差动控制结构驱动左右轮电机,使机器人能够完成直线行进、自旋、环绕等多种运动平衡模式。实验结果表明,机器人具有优良的平衡能力和机动性能,从而验证了方法的有效性。

Motion Balancing Control of Flexible Two-wheeled Robot Based on Nonlinear PID

The flexible two-wheeled balancing robot is a non-stable,non-linear,and strong coupling system.The system is characterized by a flexible body structure at the robot’s waist,which could better simulate human and animals’biological dynamics and have more bionic feature.Such factorleads to a more difficult control system.To make the robot with a strong robust balance performance,this paper presents a nonlinear PD controller for the posture balancing control of FTWBR,and a PID heading differential controller is implemented to control the motors of the left and right wheel.The robot could achieve various sport models such as moving in a straight path,spinning and,rotation.The experiment results demonstrate the FTWBR has excellent balance and mobility performance.The results validate the effectiveness of the controller.