變結構兩輪車機器人的設計與運動控制研究
發(fā)布時間：2018-07-15 20:21
【摘要】：變結構兩輪車機器人是兩車輪前后分布的自行車和兩車輪左右分布的Segway兩者相結合的產(chǎn)物,是兩輪車家族中的一名新成員。這種機器人可通過改變兩側車把轉角的大小,使系統(tǒng)工作于不同的工作模式以適應不同的地形環(huán)境和任務要求。變結構兩輪車機器人的研究是一個系統(tǒng)工程,而平衡控制則是其中的基礎。本文主要針對系統(tǒng)在工作模式動態(tài)切換中涉及的一些平衡問題展開研究,主要完成如下工作:(1)對變結構兩輪車機器人進行了運動學和動力學分析,根據(jù)車輪與地面純滾動假設以及兩車輪質心速度關系推導出系統(tǒng)的完整約束和非完整約束,采用查浦雷金方法建立系統(tǒng)的動力學模型�；谠撃Ｐ头治隽瞬糠譅顟B(tài)下車輪驅動力矩與車架俯仰角、車把轉角、車把轉角速度的關系。(2)設計并搭建了變結構兩輪車機器人的物理樣機,包括機械本體和測控系統(tǒng)平臺,其中,測控系統(tǒng)以工控機(IPC)和數(shù)字信號處理器(DSP)為控制核心,綜合慣性測量單元(IMU)、光電編碼器、電流傳感器獲取系統(tǒng)的狀態(tài)變量,采用ZigBee無線模塊完成數(shù)據(jù)的上傳和控制指令的下達;采用VS2010、MATLAB GUI等開發(fā)工具完成了變結構兩輪車機器人上位機監(jiān)控程序的開發(fā),為系統(tǒng)實驗操作分析設計了一個方便簡潔的人機交互界面。(3)針對在同步轉動車把情況下進行模式切換的特殊情形,對系統(tǒng)力學模型進行降維,得到固定車把下的力學模型;基于部分反饋線性化方法設計變結構兩輪車機器人固定車把為0?45??、時的定車運動平衡控制器,對固定車把下的定車平衡運動控制進行了數(shù)值仿真和物理樣機實驗研究,實現(xiàn)了幾組固定角度下的定車平衡運動控制。(4)對車把在一定范圍內擺動的原地模式切換問題進行了研究,基于部分反饋線性化方法設計變結構兩輪車機器人模式切換運動的平衡控制器,并引入模糊方法對控制器的參數(shù)進行在線整定提高系統(tǒng)的魯棒性;對系統(tǒng)進行了數(shù)值仿真和物理樣機實驗研究,實現(xiàn)了車把擺動情況下的原地模式切換運動控制。(5)對車把在一定范圍內擺動的行進中模式切換問題進行了研究,在原地模式切換基礎上,調整車架俯仰角和車輪速度期望值,完成了行進中模式切換運動的平衡控制器設計,并進行數(shù)值仿真和物理樣機實驗研究,實現(xiàn)了車把在一定轉角范圍內擺動的行進中模式切換運動控制。本論文對變結構兩輪車機器人的力學模型、一定車把轉角范圍下的模式切換問題進行了研究,并從仿真實驗與樣機實驗兩個方面實現(xiàn)了幾組固定車把角度下的定車運動控制和一定車把轉角范圍內擺動的模式切換運動平衡控制,為變結構兩輪車機器人的模式切換、軌跡跟蹤控制等進一步研究提供參考。
[Abstract]:The variable structure two-wheeled vehicle robot is a new member of the two-wheeled vehicle family, which is a combination of the bicycle with two front and rear wheels and the Segway with the left and right distribution of the two wheels. This kind of robot can work in different working modes by changing the angle of the two sides of the handlebars to adapt to different terrain environment and task requirements. The research of variable structure two-wheeled vehicle robot is a system engineering, and balance control is the foundation of it. In this paper, some balance problems involved in the dynamic switching of the system are studied. The main work is as follows: (1) Kinematics and dynamics analysis of the variable structure two-wheeled robot is carried out. Based on the assumption of pure rolling between the wheel and the ground and the relationship between the centroid velocity of the two wheels, the complete and nonholonomic constraints of the system are derived, and the dynamic model of the system is established by using the Chaplerkin method. Based on the model, the relationship between wheel driving torque and pitch angle of frame and angular speed of handlebars is analyzed. (2) the physical prototype of two-wheeled robot with variable structure is designed and built, including the mechanical body and the platform of measurement and control system. The measurement and control system takes industrial control computer (IPC) and digital signal processor (DSP) as the control core, integrated inertial measurement unit (IMU), photoelectric encoder and current sensor to obtain the state variables of the system. ZigBee wireless module is used to complete the data upload and control instruction, and VS2010 MATLAB GUI is used to develop the monitor program of the upper computer of the variable structure two-wheeled vehicle robot. A simple man-machine interface is designed for the analysis of system experimental operation. (3) aiming at the special situation of mode switching under synchronous rotating handlebars, the mechanical model of the system is reduced and the mechanical model under the fixed handlebars is obtained. Based on the partial feedback linearization method, a fixed vehicle motion balance controller is designed for a variable structure two-wheeled robot with a fixed handle of 0.45%. The numerical simulation and physical prototype experiments are carried out for the fixed-vehicle balancing motion control under the fixed handlebar. In this paper, several groups of stationary motion control with fixed angle are realized. (4) the in-situ mode switching problem in which the handlebars are swinging in a certain range is studied. Based on the partial feedback linearization method, a balance controller for the mode switching motion of a variable structure two-wheeled robot is designed, and the fuzzy method is introduced to improve the robustness of the system by on-line tuning the parameters of the controller. Numerical simulation and physical prototype experiments are carried out to realize the in-situ mode switching motion control under the condition of vehicle handlebars swinging. (5) the problem of mode switching when the handlebars are swinging in a certain range is studied. On the basis of in-situ mode switching, adjusting the pitch angle of the frame and the expected value of the wheel speed, the balance controller of the moving mode switching motion is designed, and the numerical simulation and the physical prototype experiment are carried out. The mode switching motion control of the handlebar swinging in a certain angle range is realized. In this paper, the mechanical model of a variable structure two-wheeled vehicle robot and the mode switching problem in a certain angle range of the handlebars are studied. From two aspects of simulation experiment and prototype experiment, several groups of fixed vehicle motion control under fixed handle angle and mode switching motion balance control with swing in certain angle range of vehicle handle are realized, which is the mode switching control of variable structure two-wheeled robot. Further research on trajectory tracking control provides reference.
【學位授予單位】：桂林電子科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
[Abstract]:The variable structure two-wheeled vehicle robot is a new member of the two-wheeled vehicle family, which is a combination of the bicycle with two front and rear wheels and the Segway with the left and right distribution of the two wheels. This kind of robot can work in different working modes by changing the angle of the two sides of the handlebars to adapt to different terrain environment and task requirements. The research of variable structure two-wheeled vehicle robot is a system engineering, and balance control is the foundation of it. In this paper, some balance problems involved in the dynamic switching of the system are studied. The main work is as follows: (1) Kinematics and dynamics analysis of the variable structure two-wheeled robot is carried out. Based on the assumption of pure rolling between the wheel and the ground and the relationship between the centroid velocity of the two wheels, the complete and nonholonomic constraints of the system are derived, and the dynamic model of the system is established by using the Chaplerkin method. Based on the model, the relationship between wheel driving torque and pitch angle of frame and angular speed of handlebars is analyzed. (2) the physical prototype of two-wheeled robot with variable structure is designed and built, including the mechanical body and the platform of measurement and control system. The measurement and control system takes industrial control computer (IPC) and digital signal processor (DSP) as the control core, integrated inertial measurement unit (IMU), photoelectric encoder and current sensor to obtain the state variables of the system. ZigBee wireless module is used to complete the data upload and control instruction, and VS2010 MATLAB GUI is used to develop the monitor program of the upper computer of the variable structure two-wheeled vehicle robot. A simple man-machine interface is designed for the analysis of system experimental operation. (3) aiming at the special situation of mode switching under synchronous rotating handlebars, the mechanical model of the system is reduced and the mechanical model under the fixed handlebars is obtained. Based on the partial feedback linearization method, a fixed vehicle motion balance controller is designed for a variable structure two-wheeled robot with a fixed handle of 0.45%. The numerical simulation and physical prototype experiments are carried out for the fixed-vehicle balancing motion control under the fixed handlebar. In this paper, several groups of stationary motion control with fixed angle are realized. (4) the in-situ mode switching problem in which the handlebars are swinging in a certain range is studied. Based on the partial feedback linearization method, a balance controller for the mode switching motion of a variable structure two-wheeled robot is designed, and the fuzzy method is introduced to improve the robustness of the system by on-line tuning the parameters of the controller. Numerical simulation and physical prototype experiments are carried out to realize the in-situ mode switching motion control under the condition of vehicle handlebars swinging. (5) the problem of mode switching when the handlebars are swinging in a certain range is studied. On the basis of in-situ mode switching, adjusting the pitch angle of the frame and the expected value of the wheel speed, the balance controller of the moving mode switching motion is designed, and the numerical simulation and the physical prototype experiment are carried out. The mode switching motion control of the handlebar swinging in a certain angle range is realized. In this paper, the mechanical model of a variable structure two-wheeled vehicle robot and the mode switching problem in a certain angle range of the handlebars are studied. From two aspects of simulation experiment and prototype experiment, several groups of fixed vehicle motion control under fixed handle angle and mode switching motion balance control with swing in certain angle range of vehicle handle are realized, which is the mode switching control of variable structure two-wheeled robot. Further research on trajectory tracking control provides reference.
【學位授予單位】：桂林電子科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
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