Research On Positioning Control Of Two-wheeled Vehicle Robot With Control Moment Gyro

The two-wheeled vehicle robot with a control moment gyro is a sports robot that combines an ordinary bicycle and a Segway two-wheeled vehicle.This two-wheeler robot can become a bicycle or a Segway two-wheeler.In the mechanical structure,the robot introduces a pair of control moment gyroscopes to adjust the motion balance of the robot.This two-wheeler robot can switch between the two states of bicycle and Segway arbitrarily,so it can adapt to roads of different widths and narrows,and can be very well used in express transportation,warehouse logistics and other industries.This article takes the two-wheeled vehicle robot with a control moment gyro as the research object,designs partial feedback linearization and sliding mode positioning controllers from the perspective of two control errors,and deals with the problems of balance control and positioning control(point-to-point control)experimental research and analysis,the main research contents are as follows:(1)Design,verification,and check the mechanical structure of the system,design a three-dimensional model of a two-wheeled robot with a control moment gyro,build a physical prototype of the two-wheeled robot,debug measurement and control and software systems,and analyze the balance of the dual-control moment gyro mechanism Impact.(2)Analyze the system from the perspectives of kinematics and dynamics,establish a dynamic model of the system based on equations,and verify the correctness of the dynamic model derivation process from the two perspectives of inverse dynamics simulation and virtual prototype simulation;based on the robot balance theory,the ZMP model of the system is established,and the ZMP model is verified by virtual prototype simulation.(3)Using frame pitch angle and ZMP point error as control error items respectively,design partial feedback linearization positioning controller and sliding mode positioning controller,and perform system stability analysis respectively;design motion control of dual-control moment gyro mechanism Device.(4)Based on the partial feedback linearization controller,the positioning control simulation of the two control error items is performed in the two states of the gyro at rest and the gyro in motion;based on the sliding mode controller,in the gyro at rest and the gyro in motion,respectively Carry out two kinds of control error term positioning control simulation.Based on the analysis and comparison of the two control error simulation results,the simulation results were compared horizontally and vertically from the angle of the controller and the gyro motion state.(5)Refer to the numerical simulation analysis of the positioning control under the static state of the gyro,compare the simulation results from many aspects,and select a better controller from the partial feedback linearization control and the sliding mode control to conduct the physical prototype experiment.First carry out the PD balance experiment of the two-wheeler robot,and then carry out the experiment of the two-wheeler robot 0 degree handlebar and 30 degree handlebar in situ.Based on the above two basic experiments,the system positioning control experiment is carried out.The experimental results prove The implementability of the robot integrated system,the correctness of the dynamic model and the effectiveness of the controller.