Fuzzy control method and device for balancing robot and balancing robot

A technology of fuzzy control and balance control, which is applied in attitude control, non-electric variable control, control/regulation system, etc., and can solve the problems that single-valued fuzzers cannot achieve performance, etc.

Active Publication Date: 2019-03-01
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The calculation of the existing single-value fuzzer is simple and convenient, and its application is very wide. However, the single-value fuzzer cannot deal with the influence of the uncertainty brought by the input well. When there is measurement noise in the closed-loop system, the single-value fuzzy The device cannot achieve the performance we expect

Method used

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  • Fuzzy control method and device for balancing robot and balancing robot
  • Fuzzy control method and device for balancing robot and balancing robot
  • Fuzzy control method and device for balancing robot and balancing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0073] figure 1 A schematic structural diagram of a balancing robot provided by an embodiment of the present invention is shown. The meanings of the parameters and variables of the balance robot are shown in the table below:

[0074]

[0075] figure 2 A schematic flowchart of a fuzzy control method for a balancing robot provided by an embodiment of the present invention is shown.

[0076] The fuzzy control method of this balancing robot comprises the following steps:

[0077] In step S110, the rotation angle of the balance robot wheel is multiplied by the radius of the balance robot wheel, and then the difference between the multiplied result and the expected position is calculated to obtain the position error, and the position error and the tilt angular velocity of the balance robot are used as the first An input is substituted into the position control model to obtain the first output.

[0078] like image 3 As shown, let the state quantity of the balanced robot i...

Embodiment 2

[0181] Figure 4 A schematic structural diagram of a fuzzy control device for a balancing robot provided by an embodiment of the present invention is shown. The fuzzy control device 500 of the balancing robot corresponds to the fuzzy control method of the balancing robot in Embodiment 1. The fuzzy control method of the balancing robot in Embodiment 1 is also applicable to the fuzzy control device 500 of the balancing robot, which is not repeated here. Repeat.

[0182] The fuzzy control device 500 of the balance robot includes a first output module 510 , a second output module 520 and a control module 530 .

[0183] The first output module 510 is used to multiply the rotation angle of the wheel of the balancing robot by the radius of the wheel of the balancing robot, and then calculate the difference between the multiplied result and the desired position to obtain the position error, and calculate the position error and The inclination angular velocity of the balancing robot ...

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Abstract

The invention discloses a fuzzy control method and device for a balancing robot and a balancing robot. The method comprises the following steps that: a rotation angle of a balancing robot wheel is multiplied by a radius of the balancing robot wheel and difference processing is carried out on the multiplication result and an expected position to calculate a position error; the position error and atilting angular velocity of the balancing robot are used as first inputs and are substituted into a position control model to obtain first outputs; difference processing is carried out on the first outputs and a tilt angle of the balancing robot to calculate a new variable; the new variable, the tilting angular velocity of the balancing robot, the rotation angle of the balancing robot wheel, and the rotational angular velocity of the balancing robot that are used as second inputs are substituted into a balance control model to obtain second outputs; and the second outputs are inputted into a mathematical model of the balancing robot and the balancing robot's operation is controlled based on the output of the mathematical model. When the random interference exists, the good control effect is realized; the anti-interference ability is powerful; and the time of arriving at the expected position is short.

Description

technical field [0001] The invention relates to the technical field of balance robots, in particular to a fuzzy control method and device for a balance robot and a balance robot. Background technique [0002] With the development of technology and applications, various mobile robots emerge in an endless stream. Robots with more joints can handle more complex situations. However, its design and control are more complicated due to the high degree of freedom. The balance robot consists of two independently driven wheels and a connecting body in the direction of the central axis. It has the advantages of simple structure, low design and control complexity, and small size, and is suitable for working in urban or narrow places. A balancing robot is an underactuated mechanical system with highly nonlinear characteristics. [0003] However, uncertainties always exist in practical applications, and high-order uncertainties will affect the system performance of balancing robots. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 赵涛喻倩佃松宜
Owner SICHUAN UNIV
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