An Adaptive Sliding Mode Control Method for Reaction Wheel Balancing Bicycle Robot

A bicycle robot and self-adaptive sliding mode technology, applied in the directions of self-adaptive control, general control system, control/regulation system, etc., can solve the problems of difficult to adapt to the parameter bicycle robot, weak adaptability of system parameters, and unsatisfactory robustness. , to achieve the effect of strong adaptability, strong interference adaptability, robustness and stability

Active Publication Date: 2022-01-07
HANGZHOU DIANZI UNIV
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  • Abstract
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Problems solved by technology

This method is simple in design, so it is widely used, but 1) the robustness of the PID control algorithm is not ideal when disturbed, and the balance will fluctuate greatly when disturbed, or even lose balance, and it is not suitable for uncertain The adaptability of system parameters and changing system parameters is weak, and it is difficult to adapt to the bicycle robot whose parameters are not determined
As a linear control method, PID control does not control the specific system model, so it cannot control the nonlinear system with both robustness and stability.

Method used

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  • An Adaptive Sliding Mode Control Method for Reaction Wheel Balancing Bicycle Robot
  • An Adaptive Sliding Mode Control Method for Reaction Wheel Balancing Bicycle Robot
  • An Adaptive Sliding Mode Control Method for Reaction Wheel Balancing Bicycle Robot

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Embodiment Construction

[0033] see figure 1 with 2 The system structure model of the reaction wheel balancing bicycle robot of the present invention is shown. in, figure 1 It is a block diagram of the control system structure. It can be seen that the control system of the reaction wheel balance bicycle robot is mainly composed of the main control chip, the communication subsystem, the steering subsystem, the forward subsystem and the balance subsystem. The communication subsystem includes a serial port module for communicating with a computer and a Bluetooth module for communicating with a mobile APP. Both the forward subsystem and the balance subsystem include speed encoders and motors, and the balance subsystem also includes attitude detection sensors. figure 2 A robot model of a reaction wheel balancing bicycle is shown. Its composition consists of a body of steel structure. A reaction wheel for balance and a motor driven by it are installed in the middle of the vehicle body. The upper part ...

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Abstract

The invention discloses an adaptive sliding mode control method for a reaction wheel balancing bicycle robot, comprising the following steps: collecting motion parameters of a self-balancing bicycle robot through a sensor measurement module; The sliding mode controller drives the reaction motor system motion according to the bicycle inclination angle parameter of real-time input and the front wheel steering angular velocity output voltage U; the output equation of the adaptive sliding mode controller is: adopt the technical scheme of the present invention, the method used It can adapt to the external environment while minimizing the impact of various disturbances in the external environment on the balance bicycle robot without losing robustness.

Description

technical field [0001] The invention relates to the field of bicycle robot balance control, in particular to an adaptive sliding mode control method for a reaction wheel balance bicycle robot. Background technique [0002] The balance bicycle robot is a self-balancing robot that uses sensors to perceive its own state, and then controls it through a control algorithm to achieve unmanned self-balancing. In recent years, unmanned navigation systems are being extensively studied. As a category of unmanned systems, bicycle robots have also been studied by many scholars and engineers. Due to its narrower structure, the bicycle robot can adapt to special environments where four-wheeled vehicles cannot work, such as narrow passages or pipes. The first step toward self-driving bicycles is autonomous balancing. [0003] There are various types of balancing bicycle robots, the most commonly studied is to use front wheel steering to keep the bicycle balanced. This approach minimizes...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈龙姚鑫樊凌雁马学条杨柳郑雪峰
Owner HANGZHOU DIANZI UNIV
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