Research On Double Power Sliding Mode Control Method For Balancing Motion Of Towed Unmanned Bicycle

Today,with the rapid development of science and technology,robot technology plays a very important role.Bicycle robot is a hot topic in robot research.The load and balance ability are the important characteristics of the performance of the bicycle mechanism.The wheelbase between the wheels of the traditional two-wheeled bicycle robot limits the load and terrain adaptability of the bicycle body to some extent.In this paper,a multi-section towed unmanned bicycle robot is taken as the research object.It is composed of a two-wheeled bicycle connected with a single trailer.Compared with a two-wheeled bicycle,this structural design effectively improves the load capacity of the system.However,at present,most of the design of the balance motion controller of the bicycle robot is based on the change of the roll Angle.For the multi-section bicycle mechanical structure,the non-unique feature of the roll Angle cannot meet the control needs well.Meanwhile,higher requirements are put forward for the robustness of the balance motion controller of the system.Based on this,a new instability evaluation model that the zero-moment point(ZMP)theory and the concept of stability margin and a double-power sliding mode control algorithm are adopted in this paper to study the balance motion control problem of towed unmanned bicycle robot.The main research work is as follows:(1)For pull-type unmanned bike model complex occupy larger industrial computer memory and running time longer,introduces eliminate 0 variables,eliminate repetition variables and sorting algorithm of stylized modeling methods,such as,establishing the model of system dynamics and the ZMP via inverse dynamic simulation and virtual prototype simulation model reliability,compared with not the introduction of new algorithm programming modeling methods,further reducing the model complexity and improve the operation efficiency.(2)Based on the obtained ZMP position,combined with the concept of stability margin,the control error directly constructed by ZMP is designed,the one-dimensional ZMP control error based on distance and the two-dimensional ZMP control error based on area are developed,and the basic principle is expounded,thus laying a foundation for establishing the relationship between the new system instability evaluation model and the control strategy.(3)Based on the system dynamics model and ZMP model,the state equation of the system is determined and the controllability and observability are analyzed.The roll angle variation and the control error directly constructed by ZMP are introduced into the partial feedback linearization and double power sliding mode control algorithm respectively.The corresponding system balance motion controller is designed and the stability is analyzed.(4)With the help of Matlab /Simulink numerical simulation tools,according to system dynamics model,ZMP model and the designed controller,the corresponding simulation block diagram was constructed and the subsystem M file was written to carry out the balance motion control research of the towed unmanned bicycle system.The results show that the equilibrium motion of the system under the dual-power sliding mode control method has shorter convergence time,smaller overshoot,and stronger anti-interference ability.Compared with the traditional roll Angle as the system control error,the balance motion simulation of the system control error directly constructed by ZMP has faster convergence speed and less overshooting.(5)Participated in the transformation,construction and debugging of the mechanical and electrical control system of the trailer type bicycle robot.On this basis,the basic experiment of balanced motion was carried out.