【摘要】 由于两轮自平衡机器人在工业和社会的应用日益广泛,结合传统的机器人控制理念,提出了两种思路新颖、效果更优的控制方法.在数学建模基础上对自平衡机器人的运动进行分析,把非线性模型线性化.并针对两轮自平衡机器人平衡点线性化模型,采用现代控制理论经典的极点配置方法设计状态反馈控制器,对初始倾角及初始位移控制进行了仿真分析,同时也运用了LQR方法,对现代控制理论中的状态空间方程给出的线性系统进行研究,对倾角控制和位移控制进行仿真.更多还原

【Abstract】 This paper proposes two novel control methods for two-wheel self-balancing robot(TWSBR),which combines with traditional robot control theory. The first approach employs a classical modern control theory called pole-placement to design the state feedback controller,which is based on equilibrium point linearized model; the second one applies the method of LQR to study the linear system derived from the state-space equations of modern control theory. This paper also presents the simulation results of angle-control and displacement-control of TWSBR to show the effectiveness of the two design methods.更多还原