球型机器人自平衡运动控制算法设计与研究

球型机器人具有结构简单、适应性好等优点。为了提高球型机器人运动稳定性,提出利用LQR并结合PID对球型机器人的自平衡运动进行控制。利用SolidWorks建立球型机器人的三维模型并搭建相应的物理样机;利用雅可比矩阵及等效一级倒立摆模型求出机器人的运动学和动力学模型;建立PID运动位置控制算法和LQR运动倾角控制算法,设计相应的PID和LQR运动控制器;利用MATLAB/SIMULINK对所建立的PID及LQR控制器进行仿真并分析;利用所建的物理样机进行实验验证。结果表明:利用PID结合LQR所设计的运动控制器及其控制算法是准确的,有效地提高了机器人自平衡运动的控制精度及稳定性。

Design and Research of Self Balancing Motion Control Algorithm for Rolling Ball Robot

The rolling ball robot has the advantages of simple structure and good adaptability.In order to improve the motion stability of the rolling ball robot,LQR and PID were used to control the self balancing motion of the rolling ball l robot.The three-dimensional model of the rolling ball robot was established by using SolidWorks and the corresponding physical prototype was built.The kinematics and dynamics models of the robot were obtained by using the Jacobi matrix and the equivalent single inverted pendulum.The PID motion position control algorithm and LQR motion tilt angle control algorithm were established,and the corresponding PID and LQR motion controllers were designed.The simulation and analysis of the established PID and LQR controllers were carried out by MATLAB/SIMULINK.The built physical prototype was used for experimental verification.The results show that the motion controller and its control algorithm designed by PID combined with LQR are accurate,which effectively improves the control precision and stability of the robot’s self balancing motion.