欠驱动自行车机器人动态平衡建模与三环PID控制研究

论文摘要

针对欠驱动自行车机器人的动态平衡控制能力不足问题,本文设计了一种三环PID动态平衡控制器，该方法采用建立动力学模型，通过拉格朗日方法进行数学分析，分析车体倾角、飞轮转速和电机力矩之间的闭环传递函数关系。在动力学模型建立的条件下，设计了速度环、角度环和角速度环组成的三环PID控制器，同时利用小角度线性化模型对系统稳定性进行分析。最后通过实车实验结果表明，该三环控制方法能够使自行车机器人在一定倾角范围内保持平衡，受到外部扰动后也能较快恢复稳定。

参考文献

• [1]Meijaard J P, Papadopoulos J M, Ruina A, et al. Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review[J]. Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2007, 463(2084): 1955-1982.
• [2]Åström K J, Klein R E, Lennartsson A. Bicycle dynamics and control: adapted bicycles for education and research[J]. IEEE Control Systems Magazine, 2005, 25(4): 26-47.
• [3]Getz N H, Marsden J E. Control for an autonomous bicycle[C]// Proceedings of IEEE International Conference on Robotics and Automation. Nagoya, Japan: IEEE, 1995: 1397-1402.
• [4]Block D J, Åström K J, Spong M W. The Reaction Wheel Pendulum[M]. San Rafael: Morgan & Claypool Publishers, 2007.
• [5]Spong M W, Hutchinson S, Vidyasagar M. Robot Modeling and Control[M]. New York: John Wiley & Sons, 2006.
• [6]Siqi Li, Haoxuan Guan, Jingzhong Ge, etal. Mathematical Modeling and Vision-Guided Triple-Loop Control of an Underactuated Bicycle Robot[J]. Mathematics, 2026, 14(12): 2160.
• [7]Ogata K. Modern Control Engineering[M]. 5th ed. New Jersey: Prentice Hall, 2010.
• [8]刘金琨. 先进PID控制及其MATLAB仿真[M]. 北京: 电子工业出版社, 2020.
• [9]Duc L T, Sy P H, Van D P, et al. Observer-Based Hybrid PID Control for Trajectory Tracking of Wheeled Mobile Robot Subject to Disturbances[C]. Advances in Information and Communication Technology. Lecture Notes in Networks and Systems, vol 1205. Springer, Cham, 2025: 566-574.

出版声明与信息公开

标准学术引用格式