欠驱动自行车机器人动态平衡建模与三环PID控制研究
关键词:
欠驱动自行车机器人 动态平衡 反作用飞轮 三环PID 姿态控制摘要
针对欠驱动自行车机器人的动态平衡控制能力不足问题,本文设计了一种三环PID动态平衡控制器，该方法采用建立动力学模型，通过拉格朗日方法进行数学分析，分析车体倾角、飞轮转速和电机力矩之间的闭环传递函数关系。在动力学模型建立的条件下，设计了速度环、角度环和角速度环组成的三环PID控制器，同时利用小角度线性化模型对系统稳定性进行分析。最后通过实车实验结果表明，该三环控制方法能够使自行车机器人在一定倾角范围内保持平衡，受到外部扰动后也能较快恢复稳定。
参考
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