本文選題：多態(tài)自平衡車機(jī)器人　切入點(diǎn)：查浦雷金方法　出處：《桂林電子科技大學(xué)》2017年碩士論文

【摘要】：自行車機(jī)器人和獨(dú)輪車機(jī)器人作為輪式機(jī)器人的代表,具有車體狹小、結(jié)構(gòu)簡(jiǎn)單、運(yùn)動(dòng)靈活等特點(diǎn),既深受廣大機(jī)器人愛好者的喜歡,也吸引著眾多國(guó)內(nèi)外研究者的目光,將其視為研究控制理論的理想平臺(tái)。目前,單獨(dú)針對(duì)自行車機(jī)器人和獨(dú)輪車機(jī)器人的研究比較多,而對(duì)可以同時(shí)實(shí)現(xiàn)兩者功能的研究相對(duì)較少。本文提出一種多態(tài)自平衡車機(jī)器人,該機(jī)器人兼具了自行車機(jī)器人和獨(dú)輪車機(jī)器人的結(jié)構(gòu)特點(diǎn),不僅可以處于自行車或者獨(dú)輪車模式單獨(dú)運(yùn)行,又可以靈活的在這兩種模式之間切換。論文以這種機(jī)器人為對(duì)象,圍繞著動(dòng)力學(xué)建模和控制算法兩個(gè)方面展開,主要工作如下:(1)根據(jù)多態(tài)自平衡車機(jī)器人的結(jié)構(gòu)特點(diǎn),首先,分別設(shè)計(jì)了多態(tài)自平衡車機(jī)器人自行車態(tài)和獨(dú)輪車態(tài)下的機(jī)構(gòu)簡(jiǎn)圖;然后,對(duì)這兩種形態(tài)依次進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析,并基于查浦雷金方法建立它們的動(dòng)力學(xué)模型;最后,通過逆動(dòng)力學(xué)仿真來驗(yàn)證動(dòng)力學(xué)模型計(jì)算的正確性。(2)設(shè)計(jì)并搭建完成多態(tài)自平衡車機(jī)器人的物理樣機(jī)一臺(tái),包括機(jī)構(gòu)本體和測(cè)控系統(tǒng)兩部分。機(jī)構(gòu)本體包括3個(gè)薄餅電機(jī)和1個(gè)步進(jìn)電機(jī),分別通過齒輪和同步帶傳遞動(dòng)力。測(cè)控系統(tǒng)以TMS320F28335數(shù)字信號(hào)處理器(DSP)為核心,包括慣性測(cè)量單元、光電編碼器、電流傳感器、無線通訊模塊、直流穩(wěn)壓模塊以及動(dòng)力鋰電池等,采用RS232總線方式串行連接4個(gè)電機(jī)驅(qū)動(dòng)器。(3)對(duì)多態(tài)自平衡車機(jī)器人自行車態(tài)下的動(dòng)力學(xué)模型進(jìn)行解耦,采用線性二次型調(diào)節(jié)器(LQR)的方法設(shè)計(jì)多態(tài)自平衡車機(jī)器人自行車態(tài)下4種平衡運(yùn)動(dòng)的仿真分析與樣機(jī)實(shí)驗(yàn)的控制器,4種平衡運(yùn)動(dòng)控制分別為:90/45??定車運(yùn)動(dòng)平衡控制、90/45??圓周回轉(zhuǎn)運(yùn)動(dòng)平衡控制。通過Matlab/simulink仿真分析與物理樣機(jī)實(shí)驗(yàn)相結(jié)合的方法驗(yàn)證了所設(shè)計(jì)控制策略的可行性與正確性。(4)采用LQR的控制方法,研究車架質(zhì)心位置變化對(duì)多態(tài)自平衡車機(jī)器人自行車態(tài)下的圓周回轉(zhuǎn)運(yùn)動(dòng)的影響,具體為:車架質(zhì)心位置橫、縱向變化對(duì)90/45??圓周回轉(zhuǎn)運(yùn)動(dòng)平衡控制的影響。通過Matlab/simulink仿真分析了車架質(zhì)心位置變化時(shí),90/45??圓周回轉(zhuǎn)運(yùn)動(dòng)平衡控制的影響,并進(jìn)行了車架質(zhì)心位置橫、縱向變化時(shí),90?圓周回轉(zhuǎn)運(yùn)動(dòng)的物理樣機(jī)實(shí)驗(yàn)研究。(5)對(duì)多態(tài)自平衡車機(jī)器人獨(dú)輪車態(tài)下的動(dòng)力學(xué)模型進(jìn)行解耦,采用部分反饋線性化的控制原理,設(shè)計(jì)了動(dòng)態(tài)俯仰平衡運(yùn)動(dòng)控制器,并通過Matlab與Adams聯(lián)合仿真驗(yàn)證所設(shè)計(jì)控制策略的可行性與正確性。
[Abstract]:As the representative of wheeled robot, bicycle robot and unicycle robot have the characteristics of small body, simple structure, flexible movement and so on. They are loved by many robot enthusiasts and attract the attention of many researchers at home and abroad.It is regarded as an ideal platform for studying control theory.At present, there are many researches on bicycle robot and unicycle robot alone, but there are few researches on how to realize the two functions simultaneously.In this paper, a polymorphic self-balancing vehicle robot is proposed. The robot has the structural characteristics of both the bicycle robot and the unicycle robot, which can not only be operated separately in the bicycle or unicycle mode.It is also flexible to switch between the two modes.This paper focuses on the dynamics modeling and control algorithm. The main work is as follows: 1) according to the structural characteristics of the polymorphic self-balancing vehicle robot, first of all,Then, kinematics and dynamics analysis of the two kinds of robot are carried out in turn, and their dynamic models are established based on Chaplerkin's method.The inverse dynamics simulation is used to verify the correctness of the dynamic model calculation. (2) A physical prototype of a polymorphic self-balancing vehicle robot is designed and built, which includes two parts: the mechanism body and the measurement and control system.The mechanism body consists of three pancake motors and one stepping motor, which transfer power through gear and synchronous belt respectively.The measurement and control system takes TMS320F28335 digital signal processor (DSP) as the core, including inertial measurement unit, photoelectric encoder, current sensor, wireless communication module, DC stabilized voltage module and power lithium battery, etc.The dynamic model of a polymorphic self-balancing robot under bicycle state is decoupled by serial connection of four motor drivers with RS232 bus mode.Using the method of Linear Quadratic regulator (LQR) to design the simulation analysis of four kinds of equilibrium motion of a polymorphic self-balancing robot under the bicycle state and the controller of the prototype experiment four kinds of balancing motion control are: 90 / 45?Fixed vehicle motion balance control 90 / 45?Circumferential rotation motion balance control.The feasibility and correctness of the designed control strategy is verified by combining the Matlab/simulink simulation analysis with the physical prototype experiment.This paper studies the influence of the change of the center of mass of the frame on the circumferential rotation motion of the robot bicycle under the condition of polymorphic self-balancing vehicle. The concrete results are as follows: the position of the center of mass of the frame is transverse and the longitudinal change has the effect on the 90 / 45?The influence of circumferential rotation motion balance control.Through Matlab/simulink simulation, the change of mass center position of the frame is analyzed when 90 / 45?The influence of the balance control of the circumferential rotation motion is carried out, and the position of the center of mass of the frame is transverse and the longitudinal change is 90?The physical prototype experiment of circumferential rotation. 5) decoupling the dynamic model of a polymorphic self-balancing robot in the state of a unicycle, and using the control principle of partial feedback linearization, a dynamic pitching balancing motion controller is designed.The feasibility and correctness of the proposed control strategy are verified by combined simulation of Matlab and Adams.
【學(xué)位授予單位】：桂林電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 朱曉慶;阮曉鋼;魏若巖;;基于慣性飛輪的獨(dú)輪自平衡機(jī)器人側(cè)向動(dòng)力學(xué)分析[J];應(yīng)用力學(xué)學(xué)報(bào);2013年03期

2 黃用華;廖啟征;魏世民;郭磊;;無機(jī)械調(diào)節(jié)器的自行車機(jī)器人圓周運(yùn)動(dòng)實(shí)現(xiàn)[J];機(jī)械工程學(xué)報(bào);2013年07期

3 黃用華;廖啟征;魏世民;郭磊;;前輪驅(qū)動(dòng)自行車機(jī)器人定車運(yùn)動(dòng)的建模與實(shí)現(xiàn)[J];北京郵電大學(xué)學(xué)報(bào);2012年02期

4 郭磊;黃用華;廖啟征;魏世民;;自平衡自行車機(jī)器人的運(yùn)動(dòng)學(xué)分析[J];北京郵電大學(xué)學(xué)報(bào);2011年06期

5 阮曉鋼;胡敬敏;王啟源;劉航;;一種獨(dú)輪機(jī)器人的滑模控制[J];控制工程;2011年01期

6 阮曉鋼;胡敬敏;蔡建羨;武衛(wèi)霞;;一種基于模糊控制理論的獨(dú)輪機(jī)器人控制算法[J];控制與決策;2010年06期

7 郭磊;廖啟征;魏世民;崔建偉;;獨(dú)輪車機(jī)器人的動(dòng)力學(xué)建模與非線性控制[J];系統(tǒng)仿真學(xué)報(bào);2009年09期

8 叢秋波;;村田制造所：“村田頑童”攜手“村田婉童”展示高新技術(shù)[J];電子設(shè)計(jì)技術(shù);2008年12期

9 石煒;郗安民;張玉寶;;基于凱恩方法的機(jī)器人動(dòng)力學(xué)建模與仿真[J];微計(jì)算機(jī)信息;2008年29期

10 王路斌;葛瑜;胡德文;;基于T-S模型的無人自行車平衡控制[J];控制工程;2008年S1期

相關(guān)博士學(xué)位論文 前1條

1 王啟源;獨(dú)輪自平衡機(jī)器人建模與控制研究[D];北京工業(yè)大學(xué);2011年

相關(guān)碩士學(xué)位論文 前7條

1 于法傳;基于陀螺進(jìn)動(dòng)效應(yīng)的獨(dú)輪機(jī)器人的研制[D];哈爾濱工業(yè)大學(xué);2015年

2 胡攀輝;獨(dú)輪機(jī)器人機(jī)械本體機(jī)構(gòu)研制[D];哈爾濱工業(yè)大學(xué);2013年

3 王攀;獨(dú)輪機(jī)器人全方位姿態(tài)控制研究及實(shí)驗(yàn)驗(yàn)證[D];哈爾濱工業(yè)大學(xué);2013年

4 董文浩;單輪機(jī)器人的控制器設(shè)計(jì)與側(cè)平衡實(shí)驗(yàn)驗(yàn)證[D];哈爾濱工業(yè)大學(xué);2012年

5 白占欣;六自由度獨(dú)輪機(jī)器人本體研制及動(dòng)力學(xué)控制方法研究[D];哈爾濱工業(yè)大學(xué);2011年

6 熊梅;獨(dú)輪機(jī)器人姿態(tài)控制研究[D];哈爾濱工業(yè)大學(xué);2010年

7 王路斌;無人自行車建模與控制[D];國(guó)防科學(xué)技術(shù)大學(xué);2007年

，

本文編號(hào)：1720382