Research On Control Strategy Of Bicycle Robot Based On Sliding Mode Variable Structure

With the emergence and development of automatic control technology,robots are increasingly used in industrial automation,express logistics,military and other fields.As the representative of robot,bicycle robot not only inherits the characteristics of small and flexible bicycle and large carrying capacity,but also can be combined with advanced fields such as automatic driving and track tracking,and has broad application prospects.However,it is more difficult to control the balance of the bicycle robot.Realizing the self-balance control of the bicycle robot is an important prerequisite for its practical application.Therefore,the research on the balance control of the bicycle robot has important theoretical and practical significance.In this thesis,the bicycle robot system is taken as the research object.First,the force of the system is analyzed,and the dynamic equation of the bicycle robot is established according to the theorem of moment of momentum.In order to obtain a simplified system equation,some variables are reasonably approximated,and then the stability analysis of the system is completed.Then,the sliding mode control algorithm and super-twisting algorithm are deeply studied.Aiming at the problems of common controllers such as general control performance and insufficient antiinterference ability,a non-singular terminal sliding mode controller based on super-twisting algorithm is innovatively designed.Then aiming at the problem that the controller can not make the system state completely converge to zero,a state-driven super-twisting reaching law is innovatively proposed,which further improves the control performance of the controller and reduces the chattering amplitude of the system.Then,the stability of the control system of the bicycle robot is verified by using Lyapunov function,and a simulation experimental system is established by using simulation software to verify the design of the controller.Finally,a bicycle robot with reaction wheels is built as a physical verification system to verify the controller designed in this thesis,and the controller based on PID control algorithm is added as a control group.By designing a variety of verification scenarios,the control performance of each controller is fully tested.In order to realize the self-balancing control of bicycle robot,this thesis has carried out research work in many aspects,such as mathematical model establishment,controller design,stability proof,simulation and physical verification,and innovatively designed a non-singular terminal sliding mode controller based on the improved super-twisting algorithm.Through physical experiments,it has been proved that it can more effectively balance the bicycle robot and has more continuous output Stronger anti-interference ability and better control effect.