自行车机器人动力学建模与MIMO反馈线性化

doi:10.13190/jbupt.200701.80.guol

北京邮电大学学报 ›› 2007, Vol. 30 ›› Issue (1): 80-84.doi: 10.13190/jbupt.200701.80.guol

自行车机器人动力学建模与MIMO反馈线性化

郭磊, 廖启征, 魏世民

北京邮电大学自动化学院，北京 100876

收稿日期:2006-03-06 修回日期:1900-01-01 出版日期:2007-03-30 发布日期:2007-03-30
通讯作者: 郭磊

Dynamic Modeling of Bicycle Robot and Nonlinear Control Based on Feedback Linearization of MIMO Systems

GUO Lei, LIAO Qi-zheng, WEI Shi-min

School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received:2006-03-06 Revised:1900-01-01 Online:2007-03-30 Published:2007-03-30
Contact: GUO Lei

摘要/Abstract

摘要：

基于拉格朗日方法建立了自行车机器人的1种多输入多输出动力学模型．为了达到使自行车机器人保持自平衡的目的，将车把转动角度、车体倾倒角度和后轮转动速度作为系统输出；将转动车把的力矩、调节质心的力矩和后轮的驱动力矩作为系统输入．从而构建了1个具有3个输入、3个输出的仿射非线性系统．基于多输入多输出仿射非线性系统的输入输出线性化理论对其进行分析，通过精确线性化得到了等效的线性系统．对该等效线性系统进行了分析，并通过状态反馈实现了极点配置．通过计算机仿真验证了该控制律的有效性．

关键词: 自行车机器人, 动力学模型, 多输入多输出仿射非线性系统, 输入输出线性化

Abstract:

A kind of dynamic model of bicycle robot was built based on the lagrange method. To keep bicycle self-balance, the steering angle, the roll-angle and the rear wheel velocity were taken as system outputs; the steering, mass balancing and rear-wheel toque were taken as inputs. Therefore, a multi-input and multi-output (MIMO) affine nonlinear system was constructed. Then input-output linearization control theory was applied to analyze the affine nonlinear system, so that the equal linear system was achieved by exact linearization. By analysis of the equal linear system and state feedback method, the desired pole locations were realized. Computer simulations verified the validity of the control algorithm.

Key words: bicycle robot, dynamic model, multi-input and multi-output affine nonlinear system, input-output linearization

中图分类号:

TP273

郭磊, 廖启征, 魏世民. 自行车机器人动力学建模与MIMO反馈线性化[J]. 北京邮电大学学报, 2007, 30(1): 80-84.

GUO Lei, LIAO Qi-zheng, WEI Shi-min. Dynamic Modeling of Bicycle Robot and Nonlinear Control Based on Feedback Linearization of MIMO Systems[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2007, 30(1): 80-84.

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自行车机器人动力学建模与MIMO反馈线性化

Dynamic Modeling of Bicycle Robot and Nonlinear Control Based on Feedback Linearization of MIMO Systems

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