| 张舰栋*,章政* ** ***,黄卫华*,李磊*,陈阳*.一种基于模糊PID的立方体机器人控制系统[J].高技术通讯(中文),2022,32(2):193~199 |
| 一种基于模糊PID的立方体机器人控制系统 |
| A cubli robot control system based on fuzzy-PID |
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| DOI：10.3772/j.issn.1002-0470.2022.02.009 |
| 中文关键词: 立方体机器人； 模糊PID； 动力学建模； 自平衡控制 |
| 英文关键词: cubli robot, fuzzy-PID, dynamic modeling, self-balancing control |
| 基金项目: |
| 作者 | 单位 | | 张舰栋* | | | 章政* ** *** | | | 黄卫华* | | | 李磊* | | | 陈阳* | |
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| 中文摘要: |
| 针对以棱边为支点的立方体机器人坡面自平衡控制问题，提出了一种基于模糊PID的立方体机器人控制系统的设计方法。首先，基于自主设计的一种内部集成的动量轮立方体机器人，通过Lagrange方程建立了坡面上立方体机器人的动力学模型，证明了在平衡点附近是一个不稳定系统且具有能控性和能观性。其次，设计了一种基于模糊PID的角速度 角度串级控制系统，实现了立方体机器人的坡面自平衡控制。最后，仿真和实测实验结果证明了本文所设计系统的有效性。 |
| 英文摘要: |
| Aiming at the self-balancing control of the cubli robot with the edge as the fulcrum on the slope, a control system for the cubli robot based on fuzzy-PID is proposed. Firstly, a kind of cubli robot is designed with an internally integrated momentum wheel, and the dynamic model of the cubli robot on the slope is established with the Lagrange equation, which proves that it is an unstable system near the equilibrium point and is controllable and observable. Secondly, an angular velocity-speed cascade control system for the designed cubli robot is constructed with the fuzzy-PID controller to realize the self-balancing control of the cubli on the slope. Finally, Simulations and pracitcal experiments results prove the effectiveness of the system designed in this paper. |
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