摘 要
随着自动控制技术的出现和发展，机器人越来越多地应用在工业自动化、快递物流和军事等领域。自行车机器人作为机器人的代表，不仅继承了自行车灵活小巧、运载量大等特点，还可以与自动驾驶、轨迹跟踪等先进领域相结合，拥有广阔的应用前景。但是自行车机器人是一个不稳定的非线性系统，对其进行平衡控制有较大困难，而实现自行车机器人自平衡控制是将其实际应用的重要前提，所以开展自行车机器人平衡控制研究具有重要的理论意义和实际意义。
本文以自行车机器人系统为研究对象，首先对系统进行受力分析，根据动量矩定理法建立了自行车机器人的动力学方程，为了获得精简的系统方程，对部分变量进行了合理近似，然后完成了系统的稳定性分析。接着深入研究了滑模控制算法和超扭曲算法，针对常见控制器控制性能一般、抗干扰能力不足等的问题，创新性地设计了一种基于超扭曲算法的非奇异终端滑模控制器。随后针对该控制器无法使系统状态完全收敛为零的问题，创新性地提出了一种系统状态驱动的超扭曲趋近律，进一步提升了控制器的控制性能，并降低了系统抖振问题。接着利用李雅普诺夫函数，验证了自行车机器人控制系统的稳定性，并使用仿真软件建立了仿真实验系统，对设计的控制器进行仿真验证。最后搭建了具有反作用轮的自行车机器人作为实物验证系统， 对本文设计的控制器进行验证，并且加入基于PID控制算法的控制器作为对照组。通过设计多种验证场景，充分检验了各个控制器的控制性能。
为了实现自行车机器人自平衡控制，本文进行了数学模型建立、控制器设计、稳定性证明和仿真及实物验证等多方面研究工作，创新性地设计了一种基于改进型超扭曲算法的非奇异终端滑模控制器，通过实物实验证明了它能够更有效地进行自行车机器人平衡控制，具有更连续的输出、更强的抗干扰能力和更好的控制效果。
关键词：自行车机器人，滑模趋近律，超扭曲算法，非奇异终端滑模
ABSTRACT
With the emergence and development of automatic control technology, robots are increasingly used in industrial automation, express logistics, military and other fields. As the representative of robot, bicycle robot not only inherits the characteristics of small and flexible bicycle and large carrying capacity, but also can be combined with advanced fields such as automatic driving and track tracking, and has broad application prospects. However, the bicycle robot is an unstable nonlinear system, and it is difficult to balance it. The realization of bicycle robot self-balance control is an important prerequisite for its practical application. Therefore, the research on bicycle robot balance control has important theoretical and practical significance.
In this paper, the bicycle robot system is taken as the research object. First, the force of the system is analyzed, and the dynamic equation of the bicycle robot is established according to the theorem of moment of momentum. In order to obtain a simplified system equation, some variables are reasonably approximated, and then the stability analysis of the system is completed. Then, the sliding mode control algorithm and super-twist algorithm are deeply studied. Aiming at the problems of common controllers such as general control performance and insufficient anti-interference ability, a non-singular terminal sliding mode controller based on super-twist algorithm is innovatively designed. Then aiming at the problem that the controller can’t make the system state completely converge to zero, a state-driven super-twist reaching law is innovatively proposed, which further improves the control performance of the controller and reduces the chattering problem of the system. Then, the stability of the control system of the bicycle robot is verified by using Lyapunov function, and a simulation experimental system is established by using simulation software to verify the design of the controller. Finally, a bicycle robot with reaction wheels is built as a physical verification system to verify the controller designed in this paper, and the controller based on PID control algorithm is added as a control group. By designing a variety of verification scenarios, the control performance of each controller is fully tested.
In order to realize the self-balancing control of bicycle robot, this paper has carried out research work in many aspects, such as mathematical model establishment, controller design, stability proof, simulation and physical verification, and innovatively designed a non-singular terminal sliding mode controller based on the improved super-twist algorithm. Through physical experiments, it has been proved that it can more effectively balance the bicycle robot and has more continuous output Stronger anti-interference ability and better control effect.
Keywords: Bicycle robot, sliding mode approach law, super twisting algorithm, nonsingular terminal sliding mode
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