Research On The Principle And Control Strateg Of Single Wheel Robot

As an unstable in pitch direction and roll direction robot, the single wheel robot has multi-variable, non-linear, strong coupling and parameter uncertainty characteristics. The research on the single wheel robot is an imagine platform to verify lots of kinds of control algorithms, and it has very important theoretical significance. The single wheel robot has a broad prospect, because it has flexible movement, simple structure, suitable for small and dangerous space.In this paper, the postural stability of a single wheel robot was divided into both longitudinal and lateral stability. Two design structures based on adjusting the center of gravity and the gyroscopic precession principle were given for keeping lateral stability. A mathematic model was derived and analyzed for the first structure, and then a PID controller was designed. The validity of the models was confirmed through the simulation in Matlab.The author laid special stress on analyzing and designing the pitch angle control system. By Newton's mechanics laws, the mathematical model of the pitch angle control system was established and analyzed. After making linearization of the non-linear model, the controllability, observability, and stability are analyzed, the author designed the pitch angle controller of the system by pole placement method, and the controller was simulated by Matlab.Aiming to the exterior disturbance and parameter uncertainty during the moving process, this paper proposes a sliding mode variable structure control algorithm, because the traditional pole assignment algorithm can't solve the balance problem. After introducing the sliding mode variable structure control algorithm, the author designed a sliding mode variable structure controller for the longitudinal control system. Finally the Matlab simulation under the exterior disturbance showed that the sliding mode variable structure control algorithm compared with the pole placement algorithm causes the track speed of this system to be quicker, and the stability is higher.