Flexible Dynamic Modeling And Control Of Wire-Moving And Self-Balancing Robot

A kind of acrobatics "soft steel wire" conquered the audience on the visual effect, through the untiring efforts of the acrobatics artists from various countries. The research is to explore the regular pattern of the "soft steel wire" performance with flexible dynamic modeling and controller design for a kind of wire-moving and self-balancing robot. At the same time, a kind of flexible steel wire experiment platforms is designed based on the theory. A new kind of controllers is proposed based on the existing mechanical structure and the new robot is used to be experimented with flexible steel wire.Firstly, two kinds of dynamic models are proposed with Appell Equation and Routh Equation, which are to verify correctness of the models in existing references. Then, considering the model is a kind of simplified models, an adaptive sliding mode intelligent controller based on RBF neural network is designed to avoid the inaccuracy of the modeling. The model is verified to have the ability of adaptive and anti-interference with the computer simulation based on MATLAB. On this basis, a method of quantitative collecting the flexible factor and adding into the dynamic model is established in the research. In addition to, a more accurate dynamic model is proposed with Appell Equation. In order to avoid trial and error of the controller parameters, the neural network adaptive sliding mode controller is still used in this paper to control the wire-moving and self-balancing robot. The simulation results show that the intelligent controller still effective under the condition of flexible and control effect is better than that control method based on part feedback linearization. Finally, to compete the experiment, a kind of flexible steel wire experiment platforms is designed in the paper. The mechanical structure of the experiment platform is assembled with parts based on SolidWorks software. The measurement and control system is complex. The core controller is C8051F040MCU to produce the data quickly, the main sensors are the photoelectric encoder and pull sensor, and the connect circuit is self-manufactured. The data produced and observed interface is designed based on C#object-oriented language. The static balance experiment is carried out in this paper using this platform and a kind of wire-moving and self-balancing robots. Finally, the experiment succeed in a condition.From dynamic modeling, controller design, simulation to experiment, the research thinks clearly and logically. A kind of more complex wire-moving and self-balancing robots and its flexible experiment platform are designed on theory and engineering. It makes a positive contribution to the follow research of wire-moving and self-balancing robot.