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针对竖直飞轮的独轮自平衡机器人系统,提出了一种基于自适应单神经元控制的双闭环(DLSN)控制方法.根据对独轮自平衡机器人动力学模型的分析,将独轮自平衡机器人分成两个子系统,提出了一种具有俯仰倾角和横滚倾角内环、前向位移外环的双闭环自适应控制结构,其中每个控制环均由单神经元自适应控制器构成.仿真实验结果表明:所设计的基于双闭环单神经元自适应独轮自控制方法是有效的.
Aiming at the single-wheel self-balancing robot system with vertical flywheel, a double closed-loop (DLSN) control method based on adaptive single neuron control is proposed.According to the analysis of the dynamic model of a single wheel self-balancing robot, The robot is divided into two sub-systems, and a double closed-loop adaptive control structure with pitch angle, roll angle inner ring and forward displacement outer ring is proposed. Each control ring is composed of single-neuron adaptive controller. The experimental results show that the self-adaptive single-wheel self-control method based on double closed-loop single-neurons is effective.