独轮车机器人驱动关节特性的分析及实验研究

摘要

为了研究独轮车机器人驱动关节的特性，针对一台3驱动独轮车机器人样机，采用多种方法对其关节驱动电机的电流跟踪响应(正弦电流、指数衰减电流、阶跃电流)、速度跟踪响应(正弦速度、指数衰减速度)、力矩系数辨识以及车体俯仰平衡控制进行了实验和分析。研究结果表明，驱动关节对不同电流和速度曲线的跟踪响应在时域上存在一定滞后，但在幅值和频率上体现了良好的动态性能，且关节驱动电机的电流与关节的输出力矩具有较好的线性关系(子i =2.47I )。利用该关系并引入了基于部分反馈线性化设计的PD控制器即可达到一定的俯仰平衡控制效果。本研究明确独轮车机器人驱动关节特性对系统平衡控制的意义，可为独轮车机器人的其他平衡运动提供理论参考。%In order to study driving joints characteristic, a research on joint-driving motors of a uni-cycle robot with three actuators is explored through diverse methods. The methods used include the current tracking response ( sinusoidal, exponential decay and step) , velocity tracking response ( si-nusoidal and exponential decay ) , identification of the relationship between the current and the torque and the balance pitching motion control of the robot. Results show that driving joints’ tracking response to different current and velocity curve lags in time domain but possesses fine dynamic per-formance in amplitude and frequency. In addition, there is a harmonious relationship between the current and the output torque. By using those relationships a PD controller based on the partial feed-back linearization for robot’s balance pitching motion is designed. Therefore, the research proves that the driving joints characteristic plays a significant role in balance control of the robot system. Furthermore, it provides a theoretical reference for other balance motions of the unicycle robot.