摘要
以球轮自平衡移动机器人为研究对象,利用Adams建立机器人的虚拟样机模型,针对机器人的姿态平衡控制以及轨迹跟踪控制,提出了一种双闭环非线性PID控制策略;在MATLAB/Simulink中建立了机器人的控制系统,利用Adams和MATLAB实现对机器人的联合仿真。仿真结果表明,所提出的控制策略相比传统线性PID控制策略,可以有效地减少零点振荡,且具有较强的稳定性,可以使球轮自平衡机器人在平面进行直线位移运动。
Taking the self-balancing mobile robot of the ball wheel as the research objective,a virtual prototype model of the robot is established by adopting Adams.Aiming at the posture balance control and the trajectory tracking control of the robot,a double closed-loop nonlinear PID control strategy is proposed.The robot control system is established in MATLAB/Simulink,and the joint simulation of robot is achieved by using Adams and MATLAB.The simulation results show that our control method can effectively reduce zero-point oscillation and has strong stability compared with the traditional linear PID control strategy,making the ball self-balancing robot linear displacement in the plane movement.
作者
阮晓钢
刘桐
RUAN Xiaogang;LIU Tong(Department of Information Science,Beijing University of Technology,Beijing 100124,China;Beijing Key Laboratory of Computational Intelligence and Intelligent System,Beijing University of Technology,Beijing 100124,China)
出处
《中国科技论文》
CAS
北大核心
2018年第20期2301-2308,2322,共9页
China Sciencepaper
基金
国家自然科学基金资助项目(61375086)
北京市自然科学基金资助项目/北京市教育委员会科技计划重点项目(KZ201610005010)
