Modeling And Control Of A Ballbot

Nowadays,the most widely used mobile robots are static equilibrium robot,such as wheeled robots,crawler robots and foot robot.However,there are some disadvantages that they turn inflexibly and take up large space to maintain their own stability.The emergence of Ballbot can solve the above problems and it has obvious advantages.The Ballbot has a simple structure which designed in this paper.It can keep balance through dynamic balance and achieve the robot's radius free and omnidirectional motion by using the ball insteading of the traditional wheels.So it has strong mobility even in narrow workspace and a wide range of applications.Firstly,it is introduced that the design of mechanical structure and electrical structure of the Ballbot,and this article will analyze the dynamic and kinematic models of the system.A completed three-dimensional dynamic model is derived by Lagrange method.The model not only takes into account the strong coupling of the system,but also obtains the two order nonlinear differential equations of the dynamic model of Ballbot,which provides the basis for the study of the nonlinear control algorithm in the future.At the same time,the "necessary condition" method and virtual prototype model are used to verify the model,which proves that this model can be used to describe the Ballbot system.Secondly,the Ballbot system is a typical nonlinear,multi variable,strong coupling and static unstable system,and a noncomplete underactuated system.In order to realize the stabilization control of the robot and meet the feasibility,practicality,real time,stability of the control algorithm,a parallel fuzzy PID method is designed in this paper.The balance control and motion control of the robot are realized.The feasibility of the control strategy is verified by Simulink simulation experiment,and the controller has some adaptability to the external disturbance.Finally,the software design of the Ballbot is completed,and the proposed control strategy is applied to the Ballbot to verify the feasibility of the control strategy and realize the stabilization control of the robot.