Research On The Design Of Balance Motion Controller Of Towed Bicycle Robot Based On ZMP

With the progress of science and technology,self-balancing technology is developing day by day,especially in the field of bicycle robot.At present,the balance controller of most bicycle robots is mainly designed based on the change of roll Angle.In this paper,the drag-and-drop bicycle robot is used as the research carrier.Since the system is a new two-section bicycle robot mechanism combining the structural characteristics of bicycle robot and casters,the rolling Angle of the system is diverse.If multiple roll angles are used as control errors,the whole control system will be complicated and difficult to solve.Based on this,this paper introduces the control error containing system ZMP into the control algorithm as the interference compensation,and designs a controller that can realize balanced motion.The main tasks are as follows:(1)On the premise of satisfying the characteristics of real-time operation and simple calculation of the controller,the ZMP model of the towed bicycle robot system is established by using the idea of mechanical modeling,in order to obtain the ZMP position of the system.(2)Based on the obtained ZMP position,the system ZMP is introduced into the one-dimensional distance-based method and the two-dimensional area-based method,and the control error containing the system ZMP is designed as the disturbance compensation term of the controller.(3)Different error compensation terms with ZMP are introduced into the partialfeedback linearization control algorithm and the sliding-mode control algorithm based on the partial-feedback-linearization,and the corresponding controller is designed.(4)Firstly,integrated in ZMP model,dynamic model and controller of the system,the simulation module is established in Matlab/Simulink module and the simulation is finished;Secondly,that based on the point of dynamical performance is analyzed form the simulation curves,and then the overall performance of the system is comprehensively evaluated;Finally,the same error interference compensation items are introduced into different control systems and the same control system respectively different error interference compensation terms are introduced for simulation and comparative analysis,in order to get the control performance of the system in different states.(5)Assist in the design,construction and debugging of the mechanical system and electric control system of the towed bicycle robot,and carry out the basic experiment of balance motion on this basis.In this paper,firstly,based on the characteristics of strong real-time and simple calculation of the controller,the ZMP model of the towed bicycle robot system is established to get the position of the system ZMP;secondly,the system ZMP is introduced into the method of one-dimensional distance based and two-dimensional area based to design the control error containing the error interference compensation term of the system ZMP;secondly,different error interferences are designed The compensation term is introduced into different control algorithms to design the controller containing the system ZMP.Finally,combined with the ZMP model,dynamic model and controller,the numerical simulation is executed in Matlab / Simulink,and that based on the point of dynamical performance is analyzed form the simulation curves in order to evaluate the comprehensive performance of the system.