Pendulum-Type Spherical Robot Attitude Disturbance Compensation Control Method and System

Through the combination of the fuzzy PID controller and the nonlinear perturbation observer, the problem of poor attitude stability of spherical robots in complex environments is solved, real-time compensation of disturbances and rapid attitude adjustment is achieved, and control accuracy and stability are improved.

CN116766198BActive Publication Date: 2025-07-22SOUTHWEAT UNIV OF SCI & TECH
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Patent Information

Application Number
CN202310855950.1
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-07-12
Publication Date
2025-07-22
Estimated Expiration
2043-07-12

AI Technical Summary

Technical Problem

In complex environments, when the spherical robot is disturbed externally, its motion stability is poor, and traditional PID controllers cannot effectively suppress the disturbance, resulting in poor posture swing and control effects.

Method used

Using a method of combining a fuzzy PID controller with a nonlinear perturbation observer, the error amount is constructed and differential processing is performed by receiving the robot's attitude angle and angular velocity, and the control amount is obtained by inputting the fuzzy PID controller, and combining the nonlinear perturbation observer to eliminate disturbances and realize attitude adjustment.

Benefits of technology

Effectively reduce the impact of external disturbance on spherical robots, improve motion control accuracy and stability, and improve control effect in complex environments.

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Abstract

The present invention discloses a spherical robot attitude disturbance compensation control method and system. The control method includes: S1, the nutation angle θ and the spin angle #imgabs0#; S2, subtracting the nutation angle θ and the spin angle #imgabs1# from the real-time nutation angle y of the robot θ and the real-time spin angle #imgabs2# to obtain the error quantity e θ and #imgabs3# and differentiating them to obtain the differential quantities #imgabs4# and #imgabs5#. S3, inputting e θ and #imgabs6# and #imgabs7# and the quantity #imgabs8# into a fuzzy PID controller respectively to obtain the control quantities u θ and #imgabs9#. S4, combining u θ and #imgabs10# and transmitting them to the pendulum spherical robot for execution, collecting the attitude angle and angular velocity of the spherical robot, and outputting y θ and #imgabs11#. S5, sending the attitude angle, angular velocity and the control quantity u pid to the nonlinear disturbance observer to output the estimated disturbance #imgabs12#. S6, subtracting the disturbance #imgabs13# from the control quantity u pid to obtain the control quantity #imgabs14# and sending it to the pendulum spherical robot, and repeating steps S2 to S6 until the attitude adjustment is completed.
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