Optimization Design Of Variable Structure Wheeled Robot System Based On Optimization Algorithm

Wheeled robot has always been a very important subject in the control field.Among the two wheeled robots,the balance control of bicycle robot and Segway robot has always been a research hotspot in the control field.This paper studies the control and structure optimization of bicycle robot,which provides new possibilities for the control theory of bicycle robot and new ideas for the structure design of robot.Firstly,the kinematics model is established according to the motion state of bicycle,and a balance control algorithm based on kinematics is proposed.When the handlebar is deflected,the centripetal force generated by the approximate circular motion of the vehicle body,and the torque generated against the location is used as the driving torque of vehicle body balance to maintain balance.Based on the feedback linearization principle,the relationship between the torque and handlebar angle and vehicle speed is deduced theoretically.Reinforcement learning is used to adjust the control parameters and optimize the performance of the controller.Using the SimMechanics toolbox of MATLAB,a simple model of the robot is created.Combined with reinforcement learning toolbox,simulation experiments are carried out to verify the feasibility of the algorithm.Compared with conventional PID control algorithm and MPC algorithm,it has great advantages in antiinterference and stability.The control effect is optimized by taking the mass and geometric parameters of the bicycle robot as dependent variables.For example,optimize the height,length and wheel spacing of the bicycle.A variety of optimization algorithms are compared to determine the optimization algorithm.According to the characteristics of bicycle robots with different mass and geometric parameters,that is,the direction deflection of bicycle robot after receiving disturbance is used as the reference design optimization objective function to realize the structural optimization of bicycle robot.Within the feasible range,the optimal structure of the bicycle is obtained,that is,the error caused by the disturbance is the smallest.Taking STM32F427 as the main control board,complete the selection of motor and sensor,and build the measurement and control system of bicycle robot.The physical prototype of bicycle robot is designed and built.The physical prototype experiment of bicycle robot is completed to verify the effectiveness of the algorithm.