摘要
针对两轮自平衡机器人在控制过程中的抖动现象,采用一种快速跟踪的有限记忆递推最小二乘估计方法,实现系重心偏移角的参数辨识.仿真表明,在参数突然变化时,该方法能快速辨识系统参数.通过增加一个惯导元件,用一个倾角仪A中采集的数据辨识出的偏移角对另一个倾角仪B的零位进行修正,将B采集的数据反馈到控制器中,对机器人实施平衡控制.分析表明,考虑重心偏移的控制策略是一种自适应的控制方法,能有效去除抖动现象,提高两轮自平衡机器人平衡控制的鲁棒性.
Based on the chattering phenomena in the control of the Two-Wheeled Self-Balancing Robot, a kind of fast tracking time limited recursive least square estimation method was proposed to implement the barycenter offset identification of the robot. The result of simulation shows that, this method can estimate the parameter very fast in the sudden change of the parameter. By adding a inertial device of inclinometer, the zero position of inclinometer B can be adjusted t by using the offset angle which was acquired from the data of inclinometer A, and the data acquired from the data of inclinometer B was used as the input of the feedback controller and carry out the balancing control of robot. The analysis shows that this control strategy considering the harycenter offset is a kind of adaptation control method, can effectively remove the chattering phenomena, and then improve the robustness of the balancing control for the Two-Wheeled Self-Balancing Robot.
出处
《北京工业大学学报》
EI
CAS
CSCD
北大核心
2011年第9期1310-1316,共7页
Journal of Beijing University of Technology
基金
国家'八六三'计划资助项目(2007AA04Z226)
国家自然科学基金资助项目(6077407761075110)
北京市教委重点项目(KZ200810005002)
北京市自然科学基金项目(4102011)
关键词
两轮自平衡机器人
重心偏移
参数估计
递推最小二乘法
平衡控制
惯导元件
two-wheeled self-balancing robot
barycenter offset
parameter estimation
recursive least square method
balancing control
inertial device
