The Research Of Prototype Design And Control Experiment For A Polymorphic Self-balancing Vehicle Robot

As a representative of the wheeled robot,the bicycle robot and the unicycle robot have the characteristics of simple structure,small body,flexible movement and so on.Both are loved by the majority of robot enthusiasts,they also attract the attention of many researchers at home and abroad.They are regarded as an experimental platform for the research of control theory.At present,more and more researchers pay their attention to bicycle robot and unicycle robot,however,few studies on robots with both functions.Therefore,a polymorphic self-balancing vehicle robot is proposed,the structure of robot integration of the bicycle robot and unicycle robot,it can operation alonely not only in the bicycle robot or unicycle robot mode,but also can flexibly switch between the two modes.The paper takes this kind of robot as the research object,and the main contents of this dissertation are two aspects of the dynamic modeling and control algorithm.The completed main work of this paper is as follows:At first,according to the structural characteristics of the polymorphic self-balancing vehicle robot,first of all,mechanisms were designed of the bicycle robot the unicycle robot;Then,the kinematics and dynamics of these two forms are analyzed in turn,and the dynamic models are established based on the method of Chaplygin equation;Finally,the correctness of the dynamic models are verified by inverse dynamics simulation.Secondly,the polymorphic self-balancing vehicle robot is designed and builded,it includes two parts: body and control system.The body includes 3 pancake motors and 1 stepper motors,and transmission power through the gear and the synchronous belt.The measurement and control system is based on TMS320F28335 digital signal processor(DSP),including inertial measurement unit,photoelectric encoder,current sensor,wireless communication module,DC voltage regulator module and power lithium battery,et al,use RS232 bus serial connection of 4 motor drives.Thirdly,the dynamic model of the polymorphic self-balancing vehicle robot under the bicycle state is decoupled,LQR method is used to simulate and analyze of 4 kinds of the polymorphic self-balancing vehicle robot under the bicycle state,4 kinds of balance motion control: balance control of track stand motion and circular motion with 90/45 degree.The feasibility and correctness of the proposed control strategy is verified by the method of Matlab/simulink simulation and physical prototype experiment.Fourthly,using LQR control method,the influence of the change of the position of the center of the frame on the circular motion of the bicycle in the state of the polymorphic self-balancing vehicle robot is studied,specifically as: the influence of the horizontal and vertical changes of the center of mass of the frame on the balance control of the circular motion of 90/45 degrees.Through the Matlab/simulink simulation analysis to research the influence of 90/45 degree circular motion balance control of the change of the center of mass of the frame.At the same time,the experimental research on the physical prototype of the 90 degree circular motion is carried out when the position of the center of mass of the frame is horizontal and vertical.Finally,the dynamics model of polymorphic self-balancing vehicle robot under the state of unicycle robot is decoupled,and using the control principle of partial feedback linearization to design dynamic pitch balance motion controller.The feasibility and correctness of the proposed control strategy is verified by the simulation of Matlab and Adams.