The Study On The Dynamics Modeling Of Unicycle Robot And The Torque Control Strategy

In this thesis, after a deep analysis of the structure of the unicycle robot, the dynamics model of the unicycle robot is established by using Lagrange equation. However, the dynamics model of the unicycle robot established is non-linear. By expanding the non-linear items in Taylor series around an equilibrium point, the non-linear dynamics model of the unicycle robot is linearized. After the linearized processing, the linearized dynamics model of the unicycle robot is simplified into state equation. Then a simulation model of the unicycle robot is developed using Simulink, and the accuracy of the dynamics model of the unicycle robot established is verified. Besides, based on the linearized state equation, a state feedback algorithm is designed to maintain postural stability of the unicycle robot. After completing the postural stability control algorithm, a simulation model is developed using Simulink. The capability and performance of the algorithm is verified.After the completion of the unicycle robot dynamics model as well as the upper algorithm design, the hardware of the unicycle robot drive control system and the drive control algorithm are designed in the thesis. First, by use of Microchip’s high-performance digital signal control chip ds PIC30F4012, the controller of direct current motor drive control system is developed. And then the driving circuit of DC motor drive control system is designed by use of IR’s high voltage integrated driver chip IR2130. Finally, the inverter circuit of DC motor drive control system is designed by use of IR’s fully controlled MOSFET chip IRFS4710.The torque servo control algorithm of DC motor, in which the current state observer is the entire core algorithm, is developed based on the mathematical model of DC motor after the design of the hardware circuit of the DC motor drive control system. And then a simulation experiment is made in Simulink. The results show that the proposed algorithm is fast, stable and accurate. Finally, the parameters of the mathematical model of the DC motor are identified by use of the DC motor drive control system established before. And the performance of the current observer is verified by experiment. The experiment results show that the current observer is accurate and stable.