Position and speed control of a low-cost two-wheeled, self-balancing inverted pendulum vehicle

Mirko Brentari, A. Zambotti, L. Zaccarian, P. Bosetti, F. Biral
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引用次数: 4

Abstract

In this paper we present a low-cost prototype of a two-wheeled, self-balancing inverted pendulum realized at the mechatronics laboratory of the University of Trento. This vehicle lends itself to represent a class of control problems that arise in many educational robotic devices custom built and assembled with low-end market components. We provide a detailed description of the equipment and describe the strategies adopted to suitably address backlash of the low-cost DC motors and disturbances arising from the voltage controlled hardware. Then we propose a nested control paradigm where an inner loop provides regulation of a virtual control requested by an outer loop that uses the pitch angle to regulate the longitudinal displacement and speed. Three saturation-based control laws are proposed for the outer loop, all of them allowing the designer to adjust the maximum pitch angle. Experimental results illustrate the effectiveness of the proposed control laws and the operation of the developed prototype.
低成本两轮自平衡倒立摆车辆的位置和速度控制
在本文中,我们介绍了在特伦托大学机电一体化实验室实现的两轮自平衡倒立摆的低成本原型。这款车代表了许多教育机器人设备中出现的一类控制问题,这些设备是用低端市场组件定制和组装的。我们提供了设备的详细描述,并描述了采用的策略,以适当地解决低成本直流电机的反弹和电压控制硬件产生的干扰。然后,我们提出了一种嵌套控制范式,其中内环提供外部环所要求的虚拟控制的调节,外部环使用俯仰角来调节纵向位移和速度。提出了三种基于饱和的外环控制律,它们都允许设计者调整最大俯仰角。实验结果证明了所提出的控制律的有效性和所开发样机的可操作性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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