The embodiment of the invention provides a two-wheeled robot self-balancing control method and a robot, more degrees of freedom can be achieved to meet more complex movement requirements, independent movement of the two-wheeled robot can be controlled, and the part is called as a holder and is located on the upper portion of a vehicle body. The absolute level of the holder can be realized under the normal movement of the vehicle by using sensors such as a gyroscope; and in combination with visual calculation, identification and following of a specific feature target by the holder can be realized. Due to the increase of the degree of freedom, the motion limitation degree of the two-wheel balance robot is obviously reduced, and the two-wheel balance robot can be competent for work in more aspects. And secondly, the balance robot uses LQR control, a control system is obtained based on physical modeling, and compared with general PID control, the complex parameter adjusting process can be simplified, and the control efficiency is improved. In addition, due to the fact that two degrees of freedom of the yaw shaft and the pitch shaft are added, more accurate position control can be achieved on the upper portion of the vehicle body, and a visual function can be added to achieve advanced functions such as target aiming and following.
本发明实施例提供一种两轮机器人自平衡控制方法和机器人,可以有更多的自由度以实现更复杂的运动需求,可以控制其独立运动,这一部分称之为云台,位于车身上部。运用陀螺仪等传感器,可以实现车的正常运动下云台的绝对水平;结合视觉计算,可以实现云台对特定特征目标的识别以及跟随。自由度的增加使得二轮平衡机器人的运动受限程度明显降低,可以胜任更多方面的工作。其次,该平衡机器人使用LQR控制,基于物理建模得到控制系统,相对于一般的PID控制,可以简化繁杂的调参过程,并且提高控制效率。并且由于加入了yaw轴和pitch轴这两个自由度,车身上部可以实现更精准的位置控制,可以加入视觉功能实现瞄准目标、跟随等高级功能。
Two-wheeled robot self-balancing control method and robot
一种两轮机器人自平衡控制方法和机器人
2023-07-04
Patent
Electronic Resource
Chinese
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