【摘要】 针对球形机器人运动模型复杂,平衡控制实现困难等问题,设计了以自平衡双轮小车为运动核心的球形机器人,分析了系统运动特征。根据自平衡小车执行机构特点设计了一种改进型双闭环PID控制算法,解决了球形机器人的平衡及运动速度控制问题,并在MATLAB中对算法进行了仿真分析,得出偏转角以及转速关系曲线。系统实验与仿真结果表明,改进型PID控制算法对球形机器人的运动控制效果良好,可以实现控制要求。更多还原

【Abstract】 In view of the complex motion model of the spherical robot and the difficulty of realizing balance control, a spherical robot with the core of self balancing double-wheel-car is designed and the motion characteristics of the system are analyzed. An improved double closed loop PID control algorithm is put forward according to the characteristics of the self balancing car actuator. The balance and motion speed control of the spherical robot are solved. The algorithm is simulated and analyzed based on MATLAB,and the relation curve of deflection angle and the speed are obtained. The system experiment and simulation results show that the improved PID control algorithm has good effect ol the motion control of the spherical robot and can achieve the control requirements.更多还原