【摘要】：兩輪自平衡倒立擺式機(jī)器人系統(tǒng)具有強(qiáng)非線性、多變量和本質(zhì)不穩(wěn)定性的特點(diǎn),可以用于驗(yàn)證各種控制算法的有效性。輪式倒立擺的體積小、結(jié)構(gòu)簡單和靈活性強(qiáng),可以在狹小的空間或者相對危險(xiǎn)的地方工作,能夠載人載物,并具有較低耗能。由于其自身的動(dòng)力學(xué)特性和廣泛的應(yīng)用場合,兩輪自平衡倒立擺式機(jī)器人系統(tǒng)的控制研究得到越來越多研究者的關(guān)注。本文以基于Beaglebone Black的輪式倒立擺為研究對象,針對倒立擺的軌跡線性化控制問題進(jìn)行了研究。模型是控制問題中基礎(chǔ)而關(guān)鍵的部分,為了獲得準(zhǔn)確的模型,本文使用辨識(shí)的方法建立輪式倒立擺的模型。通過對倒立擺輸入輸出數(shù)據(jù)的計(jì)算,得到了適合的模型。研究輪式倒立擺的軌跡線性化問題。通過對軌跡線性化方法的基本理論和設(shè)計(jì)思想進(jìn)行分析后,設(shè)計(jì)了輪式倒立擺的軌跡線性化方案,通過仿真驗(yàn)證了軌跡線性化方法的有效性。最后,通過編程和調(diào)試,在基于BeaglebonBlack的輪式倒立擺機(jī)器人上實(shí)現(xiàn)了軌跡線性化控制。
[Abstract]:The two-wheel self-balancing inverted pendulum robot system has the characteristics of strong nonlinearity, multivariable and essential instability, which can be used to verify the effectiveness of various control algorithms. The wheel inverted pendulum is small in size, simple in structure and flexible, it can work in narrow space or relatively dangerous place, can carry people and has low energy consumption. Due to its own dynamic characteristics and wide applications, the control of two-wheel self-balancing inverted pendulum robot has attracted more and more researchers' attention. In this paper, the trajectory linearization control of inverted pendulum based on Beaglebone Black is studied. The model is the basic and key part of the control problem. In order to obtain the accurate model, the identification method is used to establish the model of the wheel inverted pendulum. By calculating the input and output data of inverted pendulum, a suitable model is obtained. The trajectory linearization of wheel inverted pendulum is studied. After analyzing the basic theory and design idea of trajectory linearization method, the trajectory linearization scheme of wheel inverted pendulum is designed, and the validity of trajectory linearization method is verified by simulation. Finally, through programming and debugging, the trajectory linearization control is realized on the wheel inverted pendulum robot based on BeaglebonBlack.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前9條

1 降晨星;蘇波;馮石柱;康曉;馬睿t，

本文編號(hào)：2188579