前轮驱动自行车机器人直线运动的控制实现

提出一种无配重调节器的前轮驱动自行车机器人的欠驱动力学模型,重点讨论了仅靠前轮驱动和车把转动实现水平面直线平衡行走的控制方法.通过转弯半径分析推导出用前轮速度和车把速度表示的系统动能,采用拉格朗日方法建立系统的力学模型.以此为基础,将有驱动输入的前轮、车把转角线性化,将欠驱动的车架横滚角作为内部动态,设计出机器人的直线运动平衡控制器.仿真控制结果验证了控制策略的有效性.样机实验结果进一步证明了控制器可以在合理输入力矩下实现自行车机器人的直线平衡行走.

Control and Realization for Rectilinear Motion of a Front-Wheel Drive Bicycle Robot

Dynamic model for a front-wheel drive bicycle robot free from regulator weight was presented and balanced controller for rectilinear motion was investigated.By analyzing the turning radius of the robot,kinetic energy were derived with the driving angle velocities of front-wheel and front bar,and then the dynamic model was established based on Lagrange formulation.The balance controller for rectilinear motion was constructed by linearizing front-wheel and front-bar input angle and considering the under-actuated frame rolling angle as the internal dynamics.Simulation result shows the effectiveness of the proposed controller.Physical experiment result further verifies that the proposed controller can realize rectilinear motion with reasonable driving torque.