【摘要】：變結(jié)構(gòu)兩輪車機(jī)器人是兩車輪前后分布的自行車和兩車輪左右分布的Segway兩者相結(jié)合的產(chǎn)物,是兩輪車家族中的一名新成員。這種機(jī)器人可通過改變兩側(cè)車把轉(zhuǎn)角的大小,使系統(tǒng)工作于不同的工作模式以適應(yīng)不同的地形環(huán)境和任務(wù)要求。變結(jié)構(gòu)兩輪車機(jī)器人的研究是一個(gè)系統(tǒng)工程,而平衡控制則是其中的基礎(chǔ)。本文主要針對(duì)系統(tǒng)在工作模式動(dòng)態(tài)切換中涉及的一些平衡問題展開研究,主要完成如下工作:(1)對(duì)變結(jié)構(gòu)兩輪車機(jī)器人進(jìn)行了運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析,根據(jù)車輪與地面純滾動(dòng)假設(shè)以及兩車輪質(zhì)心速度關(guān)系推導(dǎo)出系統(tǒng)的完整約束和非完整約束,采用查浦雷金方法建立系統(tǒng)的動(dòng)力學(xué)模型�；谠撃Ｐ头治隽瞬糠譅顟B(tài)下車輪驅(qū)動(dòng)力矩與車架俯仰角、車把轉(zhuǎn)角、車把轉(zhuǎn)角速度的關(guān)系。(2)設(shè)計(jì)并搭建了變結(jié)構(gòu)兩輪車機(jī)器人的物理樣機(jī),包括機(jī)械本體和測控系統(tǒng)平臺(tái),其中,測控系統(tǒng)以工控機(jī)(IPC)和數(shù)字信號(hào)處理器(DSP)為控制核心,綜合慣性測量單元(IMU)、光電編碼器、電流傳感器獲取系統(tǒng)的狀態(tài)變量,采用ZigBee無線模塊完成數(shù)據(jù)的上傳和控制指令的下達(dá);采用VS2010、MATLAB GUI等開發(fā)工具完成了變結(jié)構(gòu)兩輪車機(jī)器人上位機(jī)監(jiān)控程序的開發(fā),為系統(tǒng)實(shí)驗(yàn)操作分析設(shè)計(jì)了一個(gè)方便簡潔的人機(jī)交互界面。(3)針對(duì)在同步轉(zhuǎn)動(dòng)車把情況下進(jìn)行模式切換的特殊情形,對(duì)系統(tǒng)力學(xué)模型進(jìn)行降維,得到固定車把下的力學(xué)模型;基于部分反饋線性化方法設(shè)計(jì)變結(jié)構(gòu)兩輪車機(jī)器人固定車把為0?45??、時(shí)的定車運(yùn)動(dòng)平衡控制器,對(duì)固定車把下的定車平衡運(yùn)動(dòng)控制進(jìn)行了數(shù)值仿真和物理樣機(jī)實(shí)驗(yàn)研究,實(shí)現(xiàn)了幾組固定角度下的定車平衡運(yùn)動(dòng)控制。(4)對(duì)車把在一定范圍內(nèi)擺動(dòng)的原地模式切換問題進(jìn)行了研究,基于部分反饋線性化方法設(shè)計(jì)變結(jié)構(gòu)兩輪車機(jī)器人模式切換運(yùn)動(dòng)的平衡控制器,并引入模糊方法對(duì)控制器的參數(shù)進(jìn)行在線整定提高系統(tǒng)的魯棒性;對(duì)系統(tǒng)進(jìn)行了數(shù)值仿真和物理樣機(jī)實(shí)驗(yàn)研究,實(shí)現(xiàn)了車把擺動(dòng)情況下的原地模式切換運(yùn)動(dòng)控制。(5)對(duì)車把在一定范圍內(nèi)擺動(dòng)的行進(jìn)中模式切換問題進(jìn)行了研究,在原地模式切換基礎(chǔ)上,調(diào)整車架俯仰角和車輪速度期望值,完成了行進(jìn)中模式切換運(yùn)動(dòng)的平衡控制器設(shè)計(jì),并進(jìn)行數(shù)值仿真和物理樣機(jī)實(shí)驗(yàn)研究,實(shí)現(xiàn)了車把在一定轉(zhuǎn)角范圍內(nèi)擺動(dòng)的行進(jìn)中模式切換運(yùn)動(dòng)控制。本論文對(duì)變結(jié)構(gòu)兩輪車機(jī)器人的力學(xué)模型、一定車把轉(zhuǎn)角范圍下的模式切換問題進(jìn)行了研究,并從仿真實(shí)驗(yàn)與樣機(jī)實(shí)驗(yàn)兩個(gè)方面實(shí)現(xiàn)了幾組固定車把角度下的定車運(yùn)動(dòng)控制和一定車把轉(zhuǎn)角范圍內(nèi)擺動(dòng)的模式切換運(yùn)動(dòng)平衡控制,為變結(jié)構(gòu)兩輪車機(jī)器人的模式切換、軌跡跟蹤控制等進(jìn)一步研究提供參考。
[Abstract]:The variable structure two-wheeled vehicle robot is a new member of the two-wheeled vehicle family, which is a combination of the bicycle with two front and rear wheels and the Segway with the left and right distribution of the two wheels. This kind of robot can work in different working modes by changing the angle of the two sides of the handlebars to adapt to different terrain environment and task requirements. The research of variable structure two-wheeled vehicle robot is a system engineering, and balance control is the foundation of it. In this paper, some balance problems involved in the dynamic switching of the system are studied. The main work is as follows: (1) Kinematics and dynamics analysis of the variable structure two-wheeled robot is carried out. Based on the assumption of pure rolling between the wheel and the ground and the relationship between the centroid velocity of the two wheels, the complete and nonholonomic constraints of the system are derived, and the dynamic model of the system is established by using the Chaplerkin method. Based on the model, the relationship between wheel driving torque and pitch angle of frame and angular speed of handlebars is analyzed. (2) the physical prototype of two-wheeled robot with variable structure is designed and built, including the mechanical body and the platform of measurement and control system. The measurement and control system takes industrial control computer (IPC) and digital signal processor (DSP) as the control core, integrated inertial measurement unit (IMU), photoelectric encoder and current sensor to obtain the state variables of the system. ZigBee wireless module is used to complete the data upload and control instruction, and VS2010 MATLAB GUI is used to develop the monitor program of the upper computer of the variable structure two-wheeled vehicle robot. A simple man-machine interface is designed for the analysis of system experimental operation. (3) aiming at the special situation of mode switching under synchronous rotating handlebars, the mechanical model of the system is reduced and the mechanical model under the fixed handlebars is obtained. Based on the partial feedback linearization method, a fixed vehicle motion balance controller is designed for a variable structure two-wheeled robot with a fixed handle of 0.45%. The numerical simulation and physical prototype experiments are carried out for the fixed-vehicle balancing motion control under the fixed handlebar. In this paper, several groups of stationary motion control with fixed angle are realized. (4) the in-situ mode switching problem in which the handlebars are swinging in a certain range is studied. Based on the partial feedback linearization method, a balance controller for the mode switching motion of a variable structure two-wheeled robot is designed, and the fuzzy method is introduced to improve the robustness of the system by on-line tuning the parameters of the controller. Numerical simulation and physical prototype experiments are carried out to realize the in-situ mode switching motion control under the condition of vehicle handlebars swinging. (5) the problem of mode switching when the handlebars are swinging in a certain range is studied. On the basis of in-situ mode switching, adjusting the pitch angle of the frame and the expected value of the wheel speed, the balance controller of the moving mode switching motion is designed, and the numerical simulation and the physical prototype experiment are carried out. The mode switching motion control of the handlebar swinging in a certain angle range is realized. In this paper, the mechanical model of a variable structure two-wheeled vehicle robot and the mode switching problem in a certain angle range of the handlebars are studied. From two aspects of simulation experiment and prototype experiment, several groups of fixed vehicle motion control under fixed handle angle and mode switching motion balance control with swing in certain angle range of vehicle handle are realized, which is the mode switching control of variable structure two-wheeled robot. Further research on trajectory tracking control provides reference.
【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 陳俊杰;蔣猛;葉進(jìn);鄒振宇;鐘志偉;;一種手推-跨騎互變式結(jié)構(gòu)兩輪車的結(jié)構(gòu)設(shè)計(jì)[J];西南師范大學(xué)學(xué)報(bào)(自然科學(xué)版);2016年02期

2 阮曉鋼;李亞磊;朱曉慶;;兩輪機(jī)器人在坡面上的運(yùn)動(dòng)平衡控制[J];傳感器與微系統(tǒng);2014年03期

3 黃用華;黃渭;莊未;黃美發(fā);鐘永全;;一種無機(jī)械平衡調(diào)節(jié)器自行車機(jī)器人的慣性參數(shù)辨識(shí)[J];東南大學(xué)學(xué)報(bào)(自然科學(xué)版);2013年S1期

4 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

5 茅力非;黃劍;宋文俊;汪秉文;;座椅可移動(dòng)2輪機(jī)器人的建模與仿真[J];華中科技大學(xué)學(xué)報(bào)(自然科學(xué)版);2012年07期

6 阮曉鋼;李世臻;侯旭陽;李欣源;;基于非線性PID的柔性兩輪機(jī)器人運(yùn)動(dòng)控制[J];控制工程;2012年03期

7 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

8 阮曉鋼;陳靜;蔡建羨;李欣源;;復(fù)雜環(huán)境下兩輪自平衡機(jī)器人穩(wěn)定控制研究[J];北京工業(yè)大學(xué)學(xué)報(bào);2011年09期

9 阮曉鋼;任紅格;李欣源;;柔性兩輪移動(dòng)機(jī)器人動(dòng)力學(xué)建模及模型分析[J];北京工業(yè)大學(xué)學(xué)報(bào);2011年01期

10 阮曉鋼;蔡建羨;陳靜;;基于強(qiáng)化學(xué)習(xí)規(guī)則的兩輪機(jī)器人自平衡控制[J];計(jì)算機(jī)測量與控制;2009年02期

相關(guān)博士學(xué)位論文 前1條

1 茅力非;兩輪自平衡移動(dòng)機(jī)器人建模與控制研究[D];華中科技大學(xué);2013年

相關(guān)碩士學(xué)位論文 前4條

1 崔彥博;一種變結(jié)構(gòu)自行車機(jī)器人動(dòng)力學(xué)建模與控制[D];北京郵電大學(xué);2015年

2 劉東強(qiáng);自行車機(jī)器人運(yùn)動(dòng)模式切換控制研究[D];北京郵電大學(xué);2015年

3 孟祥s，

本文編號(hào)：2125272