摘要
为解决3D打印制造的两轮自平衡机器人模型多样化的运动控制问题,研究一种针对非特定模型的自平衡机器人的运动控制策略。结果表明:所提出策略基于模糊自适应的控制理论,可在非人为参数调整的工况下,对于非特定模型的自平衡机器人的多种运动情景,进行快速准确的参数自调节和实时稳定的运动控制。可见,本文策略能够较好地解决3D打印制造的两轮自平衡机器人的模型多样化的自适应运动控制问题。
A motion control strategy of two-wheeled self-balancing robots manufactured by 3D printing for diversified non-specific models was studied,which was based on fuzzy adaptive control theory.Results show that it can perform fast and accurate parameter self-adjustment and real-time stable motion control for a variety of motion scenarios of non-specific self-balancing robot models under non-human parameter adjustment conditions.It can be seen that this strategy can better solve the problem of adaptive motion control of diverse two-wheeled self-balancing robot models manufactured by 3D printing.
作者
张俊杰
周惠兴
王衍学
刘天宇
ZHANG Jun-jie;ZHOU Hui-xing;WANG Yan-xue;LIU Tian-yu(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;College of Engineering,China Agricultural University,Beijing 100083,China)
出处
《科学技术与工程》
北大核心
2020年第21期8637-8642,共6页
Science Technology and Engineering
基金
国家自然科学基金(00881918422)。
