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针对两轮自平衡机器人高阶次、不稳定、多变量、非线性、强耦合的特点,以其为研究对象,采用Lagrange方法建立状态方程,并对其平衡控制进行了研究,采用STM32单片机设计了控制系统进行验证,以寻求最优的系统动态性能,提高系统稳定性和鲁棒性。根据机器人俯仰角度和速度等输入参数,采用PID算法输出PWM占空比可变的脉冲对驱动电机进行控制。仿真实验证明,本方法具有较好的动态性能和快速性。通过实际测试,证明了本方法的有效性。
Aiming at the characteristics of high-order, unstable, multivariable, nonlinear and strong coupling of self-balancing two-wheel self-balancing robot, Lagrange method is used to establish the equation of state and its balance control is studied. The control system to verify in order to seek the best dynamic performance of the system to improve system stability and robustness. According to the robot’s pitch angle and speed input parameters, the use of PID algorithm output PWM duty cycle variable pulse drive motor control. Simulation results show that this method has good dynamic performance and rapidity. Through the actual test, this method is proved to be effective.