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柔性两轮机器人是一种不稳定、非线性、强耦合系统。该系统的突出特点是在机器人的腰部装有柔性的机体结构,能够更好地模拟人和动物的生物动力学特性,具有更好的仿生性质,同时,系统的控制难度显著增大,为使机器人能够平衡直立运动,且具有较强的鲁棒性,提出了非线性PD的姿态平衡控制方法,实现了机器人的姿态平衡,并同时设计了PID航向差动控制结构驱动左右轮电机,使机器人能够完成直线行进、自旋、环绕等多种运动平衡模式。实验结果表明,机器人具有优良的平衡能力和机动性能,从而验证了方法的有效性。
Flexible two-wheeled robot is an unstable, nonlinear, strong coupling system. The outstanding feature of this system is that the robot’s waist is equipped with a flexible body structure, which can better simulate the biokinetic characteristics of humans and animals, has better bionic properties, and at the same time, the control difficulty of the system is significantly increased. The robot can balance upright motion and has strong robustness. The attitude balance control method of nonlinear PD is proposed to realize the attitude balance of the robot. At the same time, the PID control differential structure is designed to drive the left and right wheel motors, To complete a straight line, spin, surround and other sports balance mode. Experimental results show that the robot has excellent balance ability and maneuverability, which verifies the effectiveness of the method.