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首页> 外文会议>International Conference on Research and Education in Mechatronics >Cascaded LQ and Field-Oriented Control of a Mobile Inverse Pendulum (Segway) with Permanent Magnet Synchronous Machines
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Cascaded LQ and Field-Oriented Control of a Mobile Inverse Pendulum (Segway) with Permanent Magnet Synchronous Machines

机译：带有永磁同步电机的移动反摆（Segway）的级联LQ和磁场定向控制

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摘要

This paper presents the development and implementation of a two-wheeled mobile robot that balances stably and precisely. The sensor system consists of 3 gyroscopes, 3 acceleration sensors and 2 incremental encoders. In contrast to most realizations, the drive train (actuator system) consists of two permanent magnet synchronous machines with attached planetary gears and rubber wheels. Each machine is individually torque controlled by means of a field-oriented control system. This drive system guarantees the direct, wear-free and stepless linear conversion of a torque demand by the higher-level control loop. The robot itself is modelled using a LQ-controlled state-space model with attached position setpoint input. Matlab/Simulink and Simscape are used to determine the control parameters and to program the microcontrollers. Measurement results with various parameters complete the picture.
机译：本文介绍了稳定稳定地平衡的两轮移动机器人的开发和实现。传感器系统包括3个陀螺仪，3个加速度传感器和2个增量编码器。与大多数实现方式相反，传动系统（执行器系统）由两个永磁同步电机组成，这些永磁同步电机带有连接的行星齿轮和橡胶轮。每台机器都通过磁场定向控制系统分别进行扭矩控制。该驱动系统可通过高级控制回路来保证扭矩需求的直接，无磨损和无级线性转换。机器人本身使用带有附加位置设定值输入的LQ控制状态空间模型进行建模。 Matlab / Simulink和Simscape用于确定控制参数并对微控制器进行编程。各种参数的测量结果使图片更加完整。

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