摘要
采用dsPIC30F4011作为主控芯片,利用自制倾角传感器、陀螺仪和自制的电机编码器作为系统的传感器,设计了价格低廉的自平衡两轮移动机器人,很适合作为各种控制方法的研究平台。根据机器人的系统参数和运动状态,设计了电机模型、车轮模型及车身前进模型,构建了系统的动力学模型,得到了机器人平衡前进时的状态空间表达式,设计了LQR最优控制器,并进行了MATLAB仿真,得到了预期的平衡效果,验证了系统具有良好的鲁棒性,同时表明硬件设计和系统建模的合理有效性。
The dsPIC30F4011 as the control chip,the homemade tilt sensor sensors,gyroscope and homemade motor encoder to compose the detecting system,the cheap two-wheeled self-balancing mobile robot is designed,it quite suits to be an ex-periment platform of various control methods.According to the robot＇s parameters and motion,motor model,wheel model and forward model are designed,dynamical model are built,and obtain the balancing forward system＇s state space expression, design the LQR optimal controller,get the expected balancing results by making the simulation experiments with MATLAB.
出处
《工业控制计算机》
2012年第6期83-85,共3页
Industrial Control Computer
