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Single-ball balance robot attitude self-balance control method

A control method and robot technology, applied in attitude control and other directions, can solve problems such as dynamic instability and inflexible movement, and achieve the effect of reducing workload and expanding the scope of application

Pending Publication Date: 2022-08-05
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the defects of dynamic instability and inflexible movement of traditional wheeled mobile robots, the present invention proposes a flexible single-ball balancing robot (such as figure 1 (shown) attitude self-balancing control method, on the basis of establishing a reasonable dynamic model for the robot, first judge the controllability and observability of the system state, and then use the root locus method to design the controller according to a certain performance index, so as to realize the robot’s attitude self-balancing control

Method used

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  • Single-ball balance robot attitude self-balance control method
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  • Single-ball balance robot attitude self-balance control method

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specific Embodiment approach

[0122] Step 1: Use the Euler-Lagrange equation method to establish the dynamic model of the robot;

[0123] (1) Solve the kinetic energy and potential energy of the robot dynamic system as a whole in the coordinate system

[0124] The total kinetic energy of the robot in the XOZ plane is K xz =K R,xz +K w1,xz +K w2,xz , where the kinetic energy of the robot body is

[0125]

[0126]

[0127] The kinetic energy of the spherical wheel is

[0128]

[0129]

[0130] The virtual wheel kinetic energy is

[0131]

[0132]

[0133] The total potential energy of the robot in the XOZ plane is P xz =P R,xz +P w1,xz +P w2,xz , where the potential energy of the robot body is:

[0134] P R,xz =m R gl cosθ y

[0135] Spherical wheel potential energy P w1,xz is 0

[0136] The virtual wheel potential energy is

[0137] P w2,xz =m w2 gl cosθ y

[0138] (2) Solve all the external torques in the robot dynamic system:

[0139] The robot only receives the torqu...

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Abstract

The invention relates to a posture self-balancing control method for a single-ball balancing robot, which comprises the following steps of: establishing a dynamic model by adopting an Euler-Lagrange equation method, constructing a dynamic differential equation set, and obtaining a relationship between an input torque and a posture; according to a modern control theory method, the controllability and observability of a robot system are pre-analyzed, a lead correction series network is designed, and posture self-balance control over the single-ball balance robot is achieved. According to the method, the problem that parameters cannot be measured is solved, the workload is reduced, and the practical engineering application range is expanded.

Description

technical field [0001] The invention relates to a control method for a single-ball balance robot, which specifically includes motion analysis, establishment of a dynamic model and control strategy design, and belongs to the field of mechanical intelligent control. Background technique [0002] The existing wheeled mobile robot has simple structure, simple control algorithm and driving mode, but when the center of gravity is too high or the acceleration of acceleration and deceleration is too large, the robot is very easy to flip over. In order to make the robot move more stably, the center of gravity of its structure must be low enough, and the floor area of ​​the mobile chassis needs to be wide enough, which limits the application of ordinary wheeled mobile robots. Unable to complete the task. The single-ball robot can maintain dynamic balance under the condition of high center of gravity, and its body shape can be more slender and its movements can be more flexible to ada...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 韩渭辛王锦涛
Owner NORTHWESTERN POLYTECHNICAL UNIV
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