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摘要: 針對自行車機器人側向自平衡問題，以一類裝有角動量輪的自行車機器人為研究對象，提出一種新的平衡控制方法。該方法根據自行車機器人靜止時刻的側向平衡條件，構造機器人平衡控制的運動學約束，并將平衡約束視為控制目標。基于Udwadia?Kalaba（U?K）理論，建立滿足機器人側向平衡的扭矩解析模型，設計基于模型的平衡約束跟隨控制器。研究結果表明，所提控制方法能夠實現自行車機器人的側向平衡，克服機器人側向橫滾角θ初始偏差的干擾，通過對平衡扭矩模型的計算，對自行車機器人進行主動平衡控制。相較于傳統PD反饋控制方法，該種基于模型設計的控制方法，具有系統響應速度快、超調量小和控制扭矩易于優化等特點。借助MATLAB軟件，對所提控制方法進行了仿真驗證，實現了初始橫滾角速度分別為0、1、2、5°·s?1條件下的自行車機器人側向自平衡控制，仿真結果驗證了控制系統的穩定性和有效性，為無人駕駛自行車機器人的平衡控制領域提供了一個新的思路。
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關鍵詞:
- 自行車機器人 /
- 角動量輪 /
- Udwadia-Kalaba理論 /
- 自平衡控制 /
- PD控制
Abstract: In the 21st century, with the rapid development of computing and sensing technology, autonomous driving has become a hot and important research topic. The vast market for bicycles has created numerous opportunities for driverless bikes. An unmanned bicycle robot has the characteristics of flexible movement and narrow body, thus it can be widely used in disaster area-rescue operations, entertainment performances, and transportation scenes. Therefore, several scholars have studied and focused on this type of bicycle. For the lateral self-balancing problem of bicycle robots, a new balance control method has been studied for a class of bicycle robots that are equipped with an angular momentum wheel. The kinematics constraint of the robot balance control is constructed based on the lateral balance condition of the bicycle robot, and the balance constraint is regarded as the control target. Based on the Udwadia–Kalaba (U–K) theory, a torque analytical model satisfying the lateral balance of the robot was established, and a balance constraint following the controller based on the model was designed. The findings show that the proposed control method can achieve the lateral balance of the bicycle robot and overcome the disturbance caused by the initial deviation of the lateral roll angle θ. Through the calculation of the balance torque model, the bicycle robot is actively balanced. Compared with the traditional PD feedback control method, the control method based on the model design has the characteristics and advantages of fast system response, low overshoot, and ease of optimization of the control torque. The proposed control method is simulated and confirmed using MATLAB, and lateral self-balancing control of the bicycle robot is achieved at the initial roll angular velocities of 0, 1, 2, and 5°·s?1. The simulation results confirm the stability and effectiveness of the control system. This study proposes a novel idea for the balance control of unmanned bicycle robots.-
Key words:
- bicycle robot /
- angular momentum wheel /
- Udwadia–Kalaba theory /
- self-balancing control /
- PD control
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圖 12 PD控制器和約束跟隨控制器對比曲線圖
Figure 12. Comparison of PD controller and constraint following controller
表 1 自行車機器人參數表
Table 1. Bicycle robot parameters
Parameter Value Parameter Value m1/kg 11 I2/(kg·m2) 0.007882 m2/kg 3.5 L1/m 0.2316 I1/(kg·m2) 0.12418 L2/m 0.15 g/(m·s-2) 9.8 K1 3 K2 4 HP 4 L0/m 0 HD 3 h 0 
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