Fuzzy control method and device for balancing robot and balancing robot

A fuzzy control and robot technology, applied in attitude control, control/regulation system, non-electric variable control, etc., can solve the problem that the single-valued fuzzer cannot achieve performance, etc.

Active Publication Date: 2020-02-21
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

[0069] 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:

[0070]

[0071] figure 2 A schematic flowchart of a fuzzy control method for a balancing robot provided by an embodiment of the present invention is shown.

[0072] The fuzzy control method of this balancing robot comprises the following steps:

[0073] 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.

[0074] Such as image 3 As shown, let the state quantity of the balanced robot ...

Embodiment 2

[0177] 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 this balance robot corresponds to the fuzzy control method of the balance robot in embodiment 1, and the fuzzy control method of the balance robot in embodiment 1 is also applicable to the fuzzy control device 500 of this balance robot, and no longer repeat.

[0178] The fuzzy control device 500 of the balancing robot includes a first output module 510 , a second output module 520 and a control module 530 .

[0179] The first output module 510 is used to multiply the rotation angle of the balance robot wheel by the radius of the balance robot wheel, and then calculate the difference between the multiplied result and the expected position to obtain a position error, and calculate the position error and The tilt angular velocity of the balancing robot is used as the first input and substitut...

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Abstract

The invention discloses a fuzzy control method and device for a balance robot, and the balance robot. The method includes: multiplying the rotation angle of the balance robot wheel by the radius of the balance robot wheel, and then performing difference between the multiplication result and the desired position Calculate the position error; Substitute the position error and the tilt angular velocity of the balance robot into the position control model as the first input to obtain the first output; Calculate the difference between the first output and the tilt angle of the balance robot to obtain a new variable; The new variable, the tilt angular velocity of the balance robot, the rotation angle of the balance robot wheel, and the rotation angular velocity of the balance robot are used as the second input and substituted into the balance control model to obtain the second output; input the second output into the mathematical model of the balance robot to The output of the model controls the balance robot operation. When there is random interference, the present invention has better control effect, stronger anti-interference ability and shorter time to reach the desired position.

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 Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 赵涛喻倩佃松宜
Owner SICHUAN UNIV
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