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设计了一种能在运动过程中按需转向的电磁导引的两轮自平衡移动机器人系统.介绍了该系统的机械结构、工作原理及控制系统设计,并建立了系统的数学模型.针对两轮机器人的运动及平衡控制问题,基于极点配置思想设计了状态反馈控制器,同时利用卡尔曼滤波器对机器人的姿态信息进行最优估计.实际调试结果表明:所设计的机器人具有很好的自平衡能力,并实现了直立平移和转向的功能,验证了系统设计的可行性和控制算法的有效性.
A two-wheeled self-balancing mobile robot system with electromagnetic guidance that can be turned on-demand during the movement is designed.The mechanical structure, working principle and control system design of the system are introduced and the mathematical model of the system is established. Wheel robot motion and balance control problem, the state feedback controller is designed based on the pole configuration idea, and the Kalman filter is used to estimate the robot pose information optimally.The actual debugging results show that the designed robot has good self Balance the ability and achieve the function of upright translation and steering, verify the feasibility of the system design and the effectiveness of the control algorithm.