| Bicycle robot is the product of the combination of bicycle driving mechanism and intelligent control technology,which has the characteristics of dynamic balance and static instability.The traditional bicycle robot usually takes the side angle of body as the basis of system balance control.In this paper,the towed bicycle robot is used as the research carrier.However,the towed bicycle mechanism has two bodies: the tractor and the coupling car.It can neither be based on the lateral inclination of the tractor or the coupling car alone,nor on the simple algebraic sum of the two.Therefore,the research on ZMP calculation method of the towed bicycle robot can better represent the balance state of the car body,which is conducive to the design of more effective balance motion controller.Therefore,the development of ZMP calculation method for real-time control is of great academic significance and practical value.Based on this subject,the ZMP calculation method of the towed bicycle robot is studied.The main work of this paper is as follows:Firstly,the paper analyzes the kinematics of the bicycle robot and the towed bicycle robot respectively,and estimates the wheel's mass center translation speed through the second-order dynamic response model,then estimate the longitudinal slip rate of the bicycle robot and the towed bicycle robot in real time.Secondly,based on the analysis of the velocity and position of each rigid body in the system,a ZMP calculation method considering longitudinal sliding and real-time calculation is established.Finally,the specific expressions of ZMP of bicycle robot and towed bicycle robot are obtained.Thirdly,using Solid Works software to build the three-dimensional model of bicycle robot and drag type bicycle robot,using ADAMS software to build the virtual prototype simulation environment of bicycle robot and drag type bicycle robot,designing PD controller,realizing the self-balance of virtual prototype in the specified time,collecting the angle and speed of each joint,substituting the measurement data of joint into the ZMP calculation model Finally,the specific position of ZMP is obtained.Fourthly,participate in the mechanical structure design of the physical prototype of bicycle robot and towed bicycle robot,and build a distributed measurement and control system with IPC as the control core and DSP as the lower computer.Fifthly,PD controller is used to carry out the self-balance experiment of the physical prototype,and a reliable data communication mode between the robot and the monitoring PC is established.The angle and speed of each joint are collected,and the measurement data of the joint is substituted into the ZMP calculation model,and finally the specific position of the bicycle robot and the towed bicycle robot ZMP is obtained.At the end of the paper,PD controller is used to carry out the self-balance experiment of the physical prototype,and a reliable data communication mode between the robot and the monitoring PC is established.The angle and speed of each joint are collected,and the measurement data of the joint is substituted into the ZMP calculation model,and finally the specific position of the bicycle robot and the towed bicycle robot ZMP is obtained.Based on the research of bicycle robot,this paper focuses on the calculation of ZMP of towed bicycle robot.Through the kinematic analysis of bicycle robot and towed bicycle robot,a ZMP calculation method considering longitudinal sliding and real-time calculation is established.Finally,the effectiveness of the method is verified by the results of virtual prototype simulation and physical prototype experiment. |
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