摘要
由于自平衡机器人是一种两轮左右平行布置的机器人,像传统的倒立摆一样,它的本身是一个自然不稳定体,必须要施加强有力的控制手段才能使之稳定。为了提高两轮自平衡机器人设计的可靠性,针对不稳定、非线性、强耦合的两轮自平衡机器人系统,运用牛顿力学方法建立了转向运动的数学模型。在模型中建立了模糊控制器,并用模糊控制加比例控制的方法实现对两轮自平衡机器人的控制,仿真结果表明,该方法能使系统有更好的快速性和稳定性。
Two rounds of self-balancing robot is a parallel arrangement of the robot around, the same as the traditional inverted pendulum, which in itself is a natural instability of the body, we must exert a powerful means of control to make it stable. In order to improve the reliability of self-balancing robot, for instability, nonlinear and strongly coupled two self-balancing robot system, the use of Newton＇s mechanics to establish the mathematical model of steering motion. A fuzzy controller in the model, and proportional control with fuzzy control method plus two rounds of self-balance to achieve control of the robot, simulation results show that this method can make the system better speed and stability.
出处
《电子测试》
2011年第7期97-100,共4页
Electronic Test
关键词
自平衡机器人
模糊控制
牛顿力学
PD
self-balancing robot
fuzzy control
newtonian mechanics
PD
