Motion Control Of Two Wheeled Robot Based On Three-layer Structure Human-Simulated Intelligent

Two wheeled robots are driven by wheels to drive the robot and work.It has a series of excellent features: light weight,carrying large,fast walking,high efficiency.Because of these outstanding advantages,two wheeled robots are widely used.Two rounds of differential wheeled robots,because of the mechanical structure of the restrictions,making it at any time the direction of movement can only be the same orientation of the robot,which constitutes a non-complete constraint system.The nonholonomic constraint system does not have the continuity invariant state feedback control law,which increases the difficulty of realizing the motion control of two wheeled robots.In addition,there are many non-linear properties including saturation nonlinearity and hysteresis in the robot,and there is a high degree of uncertainty.Two wheeled robots are multi-input multi-output system,the need for coordinated control of the two-wheel drive.Therefore,the study of two wheeled robots has a strong theoretical significance.The problem of two-wheeled robot's point stabilization is the basic problem of two-wheeled robot motion control.In this paper,the following work is done to solve the problem of two-wheeled robot's point stabilization and its optimal control.Designed a unique three-tier structure of intelligent controller.The controller consists of multi-modal human intelligent decision-making layer,multi-motor current amplitude coordination layer,current adjustable wheel speed control control layer three layers.In the middle of the multi-modal humanoid intelligent decision-making layer,the kinematic non-complete constraint of the robot is obtained,and the wheel speed of the two power wheels is obtained according to the angular deviation and the distance deviation from the point stabilization target.The value coordination layer adjusts the drive current of each motor drive system according to the dynamic characteristics of the desired wheel speed combined system given by the decision layer for the two motor drive systems.The current adjustable wheel speed tracking control execution layer is based on The upper requirements of the desired wheel speed and the motor system to coordinate the size of the drive current to achieve effective control of two rounds of wheel speed.A controller for introducing the upper limit regulation of the output current of the motor is designed,which realizes the dynamic performance control of the DC double closed loop speed regulation system.Based on the analysis of the characteristics of DC motor double closed loop speed regulation system,a control method of adjusting the current loop feedback coefficient to realize the output control of the motor armature current is put forward,and the motor system is controlled according to the given current characteristic.Designed and implemented the controller,built a single motor drive system platform,and carried out the simulation and the actual system experiment.Which laid the foundation for the realization of the three-layer intelligent control system.A two-wheeled robot simulation and physical experiment platform was built to verify the effectiveness of the proposed three-layer structure intelligent controller.The control effect of P-control,P-COS control and MP-HSIC control is compared with the control method of three-layer artificial human intelligent point stabilization.Through the comparative analysis,the validity and practicability of the proposed control algorithm are verified.