Modeling and static balancing method and device for a two-wheeled robot based on trailing distance

Abstract

The invention discloses a method and device for modeling and static balancing of a two-wheel robot based on drag distance, wherein the method includes: setting the two-wheel robot system as a multi-link multi-joint system, and in the multi-link multi-joint system Define multiple coordinate systems and calculate the drag distance range of the two-wheel robot system; establish two constraint equations and establish a kinematics model according to the closed-loop kinematic chain of the multi-link multi-joint system and the wheel geometric characteristics of the two-wheel robot system; Using the first kind of Lagrangian equation to solve the kinematics model to obtain the dynamic model of the two-wheeled robot, and analyze the singular value of the controllability matrix, the attraction domain of the closed-loop controller and the control cost, according to the analysis results in the drag Determine the trailing distance that meets the control requirements in the distance range. This method can reflect the nonlinear relationship between the handlebar angle and the height of the center of mass under different trailing distances, and can provide a set of analysis procedures for the selection of trailing distances to improve the control effect of static balance.

Description

technical field [0001] The invention relates to the technical field of mechanical system modeling and dynamic analysis, in particular to a method and device for modeling and static balancing of a two-wheeled robot based on a drag distance. Background technique [0002] The drag distance is the distance between the intersection point of the handlebar shaft and the ground and the ground contact point of the front wheel, which has an important influence on the balance control of the two-wheeled robot using the handlebar steering. [0003] For a two-wheeled robot with a non-zero trailing distance, turning the handlebar can fine-tune the height of the center of mass of the robot to prevent it from tipping over. When the speed of the two-wheeled robot reaches a certain level, the restoring torque provided by the ground enables the front wheel shaft to automatically straighten the robot without additional control force; The balance at the time mainly depends on the steering of the...

AI Technical Summary

Problems solved by technology

The existing research on the static balance of the handlebar steering points out that the controller based on the positive trailing distance design has a small field of attraction and poor robustness, so it is necessary to explore the influence of the trailing distance on the control performance

However, the current research only models the robot with a fixed drag distance, and simplifies the height change of the center of mass into a linear model

Such a model is not enough to analyze the influence of trailing distance, so it is urgent to establish a dynamic model applicable to any trailing distance

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