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针对单球自平衡移动机器人建模复杂及自平衡控制算法准确性与可靠性不足等问题,通过将单球自平衡移动机器人模型等效为原理简单、理论成熟的一级倒立摆模型及IASMP模型,极大地降低了单球自平衡移动机器人系统建模与优化的复杂程度,提高了其建模与自平衡控制算法的准确性与可靠性,为单球自平衡移动机器人样机的优化与实验分析提供了理论依据。最后对单球自平衡移动机器人样机进行了实验分析,验证了所建模型及控制算法的有效性。
Aiming at the problems of complex single-ball self-balancing mobile robot modeling and the lack of accuracy and reliability of the self-balancing control algorithm, the single-ball self-balancing mobile robot model is equivalent to the simple and mature inverted pendulum model and IASMP model , Which greatly reduces the complexity of system modeling and optimization of single-ball self-balancing mobile robot system, improves the accuracy and reliability of its modeling and self-balancing control algorithm, and optimizes and analyzes the prototype of a single ball self-balancing mobile robot Provided a theoretical basis. Finally, a single ball self-balancing mobile robot prototype experimental analysis, verify the validity of the model and control algorithm.