Research On The Attitude Detection And Auto Adjustment System Of The Self-balancing One-legged Robot

Research on self-balancing one-legged robot contains the research on the basictheory such as the body attitude detection system, the pneumatic bounc ing legvertical jump system, the body self-balancing hydraulic servo system, themulti-body dynamics, the self-balancing control algorithm, etc. In this paper, thebody attitude detection system, the self-balancing hydraulic servo system and thewhole control system of the one-legged robot are analyzed theoretically, modelleddynamically, simulated and experimented.Here uses four ultrasonic distance sensors mounted in the robot at four pointsaround the circular body to detect the distance between the four points and theground, and then the mathematical model of the relationship between the distancethe ultrasonic distance sensors detect and the attitude of the body, the mathematicalmodel of the relationship between the deflection angle and azimuth of the body andthe length of the cylinder are built. Through the simulation of the MATLAB, thespatial curved surface of the feature point and the track of the feature point inspecified conditions are obtained when the attitude of the body changes, whichprovide a theoretical foundation when adjusting the angle of the body and the legbase on the detected body attitude.For the stringent requirements of the track and the speed when adjusting theangle of the body and the leg, the varying load hydraulic servo bench is designedand built. By combining application of the basic theories of the dyna mics, fluidmechanics and automatic control, the mathe matical model of the bench isestablished, includ ing the equations of kinematics, dyna mics, flow of orifice,continuity of flow, the servo valve, the servo amplifier, etc. Through the analysis ofthe dynamic properties of the experiment system and the analysis and processing ofthe large amount of the simulation data, the relationship between the input signa land the dyna mic properties of the cylinder is obtained. The tracking of the sine,square, triangle is realized by using PID algorithm to loop control displacementbased on the difference of the given trajectory and the displacement of the piston.According to the require ment of moving in the plane the bounce leg axis and thevertical line determine when the robot jump ing, the track planning is carried on when the two cylinders are linkage, and then the movement of the bounc ing leg inthe given plane is achieved by using speed interpolation algorithm.By integrating the attitude detection system and the self-balancing hydraulicservo system, the comprehensive experiment bench is built, and then thecomprehensive control system is designed and built, which uses the IPC (industria lpersonal computer) as a host, conducts a data exchange with the controller of theattitude detection system and the adjusting system. The measurement accuracy ofthe ultrasonic sensors is improved within a certain range by way of demarcating,according to the body attitude of the twenty groups real-time detection valuemanua lly set, the movement of the hydraulic cylinder piston is controlled by usingthe above algorithm, both the displacement and the velocity of the two pistons ofthe cylinders are in good agreement with theoretical calculatio ns, which can meetthe self-balancing jump requirements of the one-legged robot.