【作者】 杨慧；

【导师】 王富东；

【作者基本信息】 苏州大学 ， 控制理论与控制工程， 2012， 硕士

【摘要】 自平衡两轮移动机器人是一种类似于倒立摆的轮式移动机器人。由于该机器人在控制上的复杂性和技术实现上的难度，很适合作为各种控制理论和方法研究的试验平台。本文在分析了国内外研究现状的基础上自行设计制作了简易机器人的总体机械结构和硬件电路。采用dsPIC30F4011作为本系统的主控芯片，自制的倾角传感器、陀螺仪和自制的电机编码器作为检测系统的传感器，并设计了遥控器电路和人-机接口电路等。根据已构建的机器人的系统参数，分析了机器人的运动状态，建立了机器人的动力学模型，得到了系统的状态空间表达式，设计了LQR最优控制器和PID控制器，并进行了MATLAB仿真，两者均获得了期望的平衡效果，验证了系统的合理性和可行性。对传感器的标定实验表明在机器人倾斜角度小于±10°时机器人的倾斜角度和传感器的偏差是线性的，利用陀螺仪模块得到了机器人的角速度，利用自制的编码器得到了机器人的角度，通过比较多种PID算法的优缺点，设计了适合于本系统的基于增量式PID的改进的控制算法，最后进行了硬件和软件的联合调试。实现了机器人自平衡控制，得到了较为理想的平衡和运行控制效果。更多还原

【Abstract】 As a kind of wheeled mobile robot, self-balanced two-wheeled robot is similar toinverted pendulum. Due to the control complexity and the technique difficulty, therobot quite suits to be an experiment platform of various control theory and methods.Through analyzing the self-balancing two-wheeled vehicle from the domestic andforeign, mechanical structure and hardware of the self-balanced two-wheeled robot aredesigned. The dsPIC30F4011as the control chip, the homemade tilt sensor sensors,gyroscope and homemade motor encoder to compose the detecting system, and remotecontrol circuit, people-machine interface circuit and so on are all designed.According to the robot’s parameters and motion, dynamical model are built, andobtain the system state space expression, design the LQR optimal controller and PIDcontroller, get the expected balancing results and verify the rationality and feasibilityof the system by making the simulation experiments with MATLAB.The senor calibration experiment indicates that the robot’s inclination angle andthe sensor’s error are linear when inclination angle is less than plus or minus10degrees. The gyroscope gets the robot’s angle, and homemade motor encoder gets therobot’s angular velocity quantity. Through comparing the relative merits amongmultiple PID arithmetic, the improved based on incremental type PID of controlalgorithm which is suitable to the system is designed. Finally, the hardware and thesoftware were debugged together that makes the robot balanced and get thecomparatively desired result.更多还原