Research On Motion Trajectory Control Of Two-wheeled Robot With Control Torque Gyro

The two-wheeled vehicle robot adopts double driving handles and double driving wheels,and the vehicle body is in a balanced state through driving control.It has the advantages of compact structure,low energy consumption and no turning radius.This type of robot has been widely used in transportation,performance,robot education and other aspects.In the research of two-wheeler balancing robot,some change the robot control method to improve the motion performance,some combine the artificial intelligence algorithm to realize the intelligent cruise,and some improve the robot structure,so that the two-wheeler balancing robot has a good motion performance and rich functions.In this paper,on the basis of basic variable structure two-wheelers structure,designed a pair of control moment gyro agency,robot used for auxiliary two rounds of car balance,and then from the robot dynamics analysis and double exponential sliding mode control design,trajectory control simulation analysis,moment gyroscope simulation analysis,the supplementary role of physical prototype software design as well as the physical prototype experiment,etc,The influence of double power sliding mode control and torque gyro on trajectory control of two-wheeled robot is studied.The main research contents are as follows:(1)A two-wheeled robot structure with torque gyro is designed.The torque gyro model is established based on gyro effect principle,and the dynamics model of two-wheeled vehicle robot is established according to Chaplygin equation.Then a double power sliding mode controller and a partial feedback linearization controller are designed based on the dynamic model.(2)The motion control simulation is carried out by means of Matlab/Simulink platform.Firstly,the balance positioning,linear motion and S-curve motion simulation were carried out under the condition that the torque gyro did not participate in the auxiliary balance.According to the simulation results,the effects of the two different controllers on the balance state and trajectory tracking of the robot were analyzed.Then,using double power sliding mode control as controller,the trajectory control simulation of whether gyro torque participates in the auxiliary balance is carried out,and the influence of torque gyro on the balance state and trajectory tracking is analyzed.The results show that the combined control of double power sliding mode control and torque gyro can improve the trajectory control performance of two-wheeled vehicle robot.(3)Completed the robot’s measurement and control system and control software design,as well as the prototype construction.Taking industrial computer as the control core,the robot measurement and control system realizes the tasks of gyroscope data processing,data uploading,mechanical model calculation and control algorithm calculation.Digital signal processor(DSP)is used as the lower computer to complete the tasks of data acquisition,processing and exchange of the system state.Finally,the core control program is implemented on VS2010 platform,and the DSP program is implemented on CCS platform.(4)The comprehensive experiment of the physical prototype is carried out.The experimental results verify the feasibility of the hardware and software design of the measurement and control system of the physical prototype of the robot.The experimental results are consistent with the simulation results,which indicates that the dual-power sliding mode control can achieve better trajectory control performance of the two-wheeled vehicle robot.