【作者】 卢光磊；

【导师】 魏世民；

【作者基本信息】 北京邮电大学 ， 控制理论与控制工程， 2013， 硕士

【摘要】 走钢丝机器人是一种能够保持自平衡并行走于拉紧的钢丝之上的机械系统。该类机器人的命名源自于人类的高空走钢丝运动,目的在于揭示走钢丝运动的内在规律,并能够在机械装置上实现这种稳定平衡运动方式。本文研究的基于平衡杆控制的走钢丝机器人与利用飞轮陀螺效应的控制方式有着本质的不同。这种基于平衡杆的控制方式更接近于现实生活中的走钢丝运动。目前针对这类控制方式的走钢丝机器人的研究还不多,已知的研究也是理论性的分析探讨,还没有文献报道过该类机器人样机的实验。本论文首先对走钢丝运动进行了初步探讨,建立了以纯转动控制平衡杆来实现系统稳定平衡的拉格朗日动力学模型。并基于部分反馈线性化方法设计了控制策略,将电机的输出力矩作为系统输入,选取机器人横滚角度及其角速度、转杆相对机器人本体的转动角度及其角速度作为系统的四个输出变量,建立了系统的控制器。通过Adams软件对机器人的平衡运动进行了计算机仿真,结果验证了该控制器的有效性。文章进一步设计了该类机器人的物理样机,并搭建了以DSP28335为核心处理器的测控系统,配置了MTi陀螺仪和光电码盘等传感器。样机的实验结果表明,以转动控制可以实现机器人在刚性导轨上的稳定平衡。考虑到走钢丝运动中,手臂对平衡杆的操作既有转动控制又有左右平动控制,于是改进了机器人结构,利用转动耦合平动来控制。采用相同分析方法,基于新机器人的运动仿真控制和物理样机实验验证了控制器的有效性,以及自平衡收敛速度和抗干扰能力的提高。高性能的机器人样机为柔性钢丝实验提供了平台,而在柔性钢丝底座上的实验恰好进一步验证了控制器的性能,同时也完成了该系统的刚柔耦合控制实验。本论文关于走钢丝机器人的研究沿循了从简入手,逐步深化的研究方式。完成了两种结构的走钢丝机器人的分析和样机实验,丰富了基于平衡杆控制的走钢丝机器人领域的内涵。更多还原

【Abstract】 The wire-walking robot is a kind of mechanical system which can keep self-balance and walk on a tight rope. This kind of robot is named of the high-wire walking show of human people. The intention of the study is to discover the internal law of the sport, and realize this kind of control on the mechanical device. The research of his article is to control the balancing pole to keep the robot self-balance, and this method is totally different from the gyroscopic effect of a flywheel. The former is much more similar to the actual sport. At present, there is not much research on these kind of control method, and only some theoretical analysis. None of the documents had done any experiments on a real robot.Firstly, some tentative analysis of the wire-walking sport has been done, and the lagrange model of the system that is only controlled by a rolling pole is established. Then the controller of the system is designed under the partial feedback linearization control algorithm. In which, the torque of the motor is taken as the input of the system, and the roll angle and its velocity of the body were taken as two of the system outputs. The other two outputs were the angle and its velocity of the balancing pole relative to the body.The computer simulation of the balance control is produced in the Adams software, and the simulation results just testified the effectiveness of the controller designed. Then a well-designed robot is made. The measurement and control system of the robot is based on the DSP28335, and the MCU is equipped with a MTi gyroscope and a photoelectricity encoder. The experiment on the robot told that it is available to control the robot walk on a rigid rope steadily only based on a rolling pole.Considering that people can make the balancing pole roll and move it to their left and right, then the mechanical structure was redesigned. The new robot is controlled by a rolling pole that coupled a translation pole. At the foundation of the former analysis, the control simulation of the new robot also testified the effectiveness of its controller, And the same result is shown with the experiment. The new robot can converge much faster than the old one, and the anti-jamming ability is greater too.The high performance robot is the precondition to conduct the experiment on the flexible wire. However, the result of the experiment is well enough as the former ones, which means that the rigid-flexible coupling robot is qualified to keep self-balance and walk on a flexible wire.The research of this article of the wire-walking robot is produced from simple to complex, and finished step by step. The two well-designed robots and the experiments have enriched the knowledge of the wire-walking robot based on the balancing pole.更多还原