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Balancing control of a kind of wire-moving robot?

机译:一种动线机器人的平衡控制?

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摘要

A wire-moving robot which can keep self-balancing through the control of balancing pole is analyzed in this paper. After kinematic and energy analysis, the nonlinear dynamic model is presented based on Routh method. To achieve the goal of self-balancing, a kind of cascade sliding mode controller is designed. The stability of the system is proved based on Lyapunov theorem. The computer simulation is achieved by the Matlab software, and the validity of both the dynamic model and the controller is verified based on the simulation results. The results also show that the controller has good ability of signal tracking and anti-interference.
机译:本文分析了一种通过平衡杆控制可保持自我平衡的钢丝绳机器人。经过运动学和能量分析,提出了基于Routh方法的非线性动力学模型。为了达到自平衡的目的,设计了一种级联滑模控制器。基于李雅普诺夫定理证明了系统的稳定性。用Matlab软件进行计算机仿真,并根据仿真结果验证了动力学模型和控制器的有效性。结果还表明,该控制器具有良好的信号跟踪和抗干扰能力。

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