A Cubli Robot Self-balancing Control System Based On T-S Fuzzy Model

In the past two decades,a kind of cubli robot with momentum wheel to provide control torque for realizing the self-balancing of the carrier has gradually attracted the attention of scholars at home and abroad.The control system,power system,sensors and other modules of the cubli robot are contained inside the cubli,which can realize the self-balance of the single edge or corner of the cubli.It's an ideal platform for control theory research and application with complex characteristics such as high order strong coupling nonlinear underactuation.In this thesis,the dynamics modeling and control system design of a momentum wheel driven cubli robot are studied and applied.Firstly,a three-momentum wheel driven cubli robot was designed to meet the requirements of the stability and structural integrity of the cubli robot in the process of self-balancing.Based on Solid Works modeling software,the simulation model of the designed cubli robot is completed,which verifies the complete closure and rationality of its body structure.Then,based on Lagrange equation,the dynamic models of cubli robot balancing on plane and slope with corner point are established respectively.The cubli is equivalent to a single-stage inverted pendulum system with two orthogonal planes by coordinate system transformation,and the virtual momentum wheel variable is introduced to simplify the dynamic modeling process of the cubli.Theoretically,it is proved that the cubli robots on the plane and the slope have similar dynamic characteristics and is a class of underactuated nonlinear objects under certain conditions.Secondly,the attitude fusion of cubli is studied and the self-balancing control system of cubli robot based on T-S fuzzy model is designed.The method of complementary filtering was used to realize the fusion of the three attitude angles of the cubli,which was introduced into the design of the self-balancing control system of the cubli based on T-S fuzzy model,the stability of the self-balancing control system was proved based on Lyapunov method.The simulation results show that the self-balancing control system of the cubli robot based on T-S fuzzy model has good dynamic and static characteristics.Finally,a micro-electro-mechanical System based cubli robot System experiment platform was designed and built independently,which realized the onboard control System of the cubli robot to balance the plane and slope with corner points,and the system stability disturbance and robustness self-balancing control experiment was completed.The experimental results show that the cubli robots on the plane and on the slope have similar balance characteristics,and also prove the correctness of the cubli robot model based on the T-S fuzzy model and the feasibility and effectiveness of the control system.