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首页> 外文期刊>Journal of Mechanical Science and Technology >Stable control of the bicycle robot on a curved path by using a reaction wheel
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Stable control of the bicycle robot on a curved path by using a reaction wheel

机译：使用反作用轮对弯道上的自行车机器人进行稳定控制

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摘要

A new velocity and balance control algorithm for the RWBR (Reaction wheel bicycle robot) has been proposed in this paper. A reaction wheel is adopted to maintain a balance while the RWBR is driving, which allows the process of controlling the speed to be achieved concurrently with the one of controlling the balance. To control the speed of the bicycle robot, a PID control algorithm with the adjustment of variable gains is developed in this study, where the gains are heuristically adjusted during each experiment. For the control of the balance and stability, a roll controller is designed by using the model-based algorithm to provide the shortest possible cycle for the bicycle controller. The roll angle is measured to maintain the desired acceleration which generates the reaction force to keep the total force acting on the bicycle robot inside the friction cone. The desired roll acceleration is decided for the bicycle robot in order to prevent it from falling down to the floor with the minimum usage of the reaction wheel rotation. For the general driving of the bicycle robot such as the S-curved driving, the dynamic forces of centrifugal, gravity and steering change are modeled and the friction on the floor has been estimated. The performance of the designed control system is verified through the real experiments with the developed RWBR.
机译：提出了一种新型的反应车轮自行车机器人速度平衡控制算法。在RWBR行驶时，采用了一个反作用轮来保持平衡，这使得控制速度的过程与控制平衡的过程同时实现。为了控制自行车机器人的速度，在本研究中开发了一种具有可变增益调整的PID控制算法，其中在每个实验中通过启发式调整增益。为了控制平衡和稳定性，通过使用基于模型的算法来设计侧倾控制器，以为自行车控制器提供尽可能短的周期。测量侧倾角以保持所需的加速度，该加速度会产生反作用力，以将作用在自行车机器人上的总力保持在摩擦锥内。确定用于自行车机器人的期望侧倾加速度，以在最小使用反作用轮旋转的情况下防止其掉落到地板上。对于自行车机器人的一般驱动（例如S曲线驱动），对离心力，重力和转向变化的动力进行建模，并估算地板上的摩擦力。通过开发的RWBR，通过实际实验验证了设计控制系统的性能。

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