Design and simulation of ball balancing robot controller based on fuzzy PID

MIAO Wennan; ZHOU Zheng; XUAN Jiyi; CHEN Dongshui; CAO Naocang

doi:10.13873/J.1000-9787(2021)01-0066-05

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Design and simulation of ball balancing robot controller based on fuzzy PID

更新时间：2025-09-11

- Design and simulation of ball balancing robot controller based on fuzzy PID
- Vol. 40, Issue 1, Pages: 66-70(2021)
- 作者机构：
  
  华南理工大学广州学院电子信息工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2021)01-0066-05
  CLC： TP242;TP273
- Published：2021
- 稿件说明：
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[1]缪文南,周政,旋极一,陈东水,曹闹昌.基于模糊PID的球平衡机器人控制器设计与仿真[J].传感器与微系统,2021,40(01):66-70.

MIAO Wennan, ZHOU Zheng, XUAN Jiyi, et al. Design and simulation of ball balancing robot controller based on fuzzy PID[J]. 2021, 40(1): 66-70.
[1]缪文南,周政,旋极一,陈东水,曹闹昌.基于模糊PID的球平衡机器人控制器设计与仿真[J].传感器与微系统,2021,40(01):66-70. DOI： 10.13873/J.1000-9787(2021)01-0066-05.

MIAO Wennan, ZHOU Zheng, XUAN Jiyi, et al. Design and simulation of ball balancing robot controller based on fuzzy PID[J]. 2021, 40(1): 66-70. DOI： 10.13873/J.1000-9787(2021)01-0066-05.

摘要

为了提高单球机器人的姿态控制和运动控制的能力

本文在构建单球机器人机械结构的基础上

设计了一种基于模糊比例—积分—微分（PID）控制算法的线性二次型最优控制方法的控制器

应用于机器人自平衡姿态解算和运动轨迹跟踪控制。为了提高单球机器人姿态控制的实时性、准确性和可靠性

将复杂的运动学模型简化成二维倒立摆运动学模型

并利用正运动学和逆运动学建立机器人全向轮与球移动函数

确立拉格朗日动力学模型。最后对机器人的姿态平衡和运动轨迹跟踪进行仿真。仿真结果表明:具有优化控制器的球平衡机器人在姿态控制和运动控制中

具有响应速度快、抗干扰能力强等优点。

Abstract

In order to improve the posture control and motion control ability of the single-ball robot

the single-ball robot with linear quadratic optimized controller based on fuzzy proportional-integral-differential（PID） control algorithm is designed

it is applied in robot self-balancing posture calculation and motion tracking control.In order to improve the real-time

accuracy and reliability of the single-ball robot posture control

complex kinematics model is simplified into two-dimensional inverted pendulum kinematics model

and forward kinematics and inverse kinematics are used to establish omnidirectional wheel and ball movement function of robot

then the Lagrangian dynamics model is built.Finally

posture balance and motion trajectory tracking process of robot are simulated.The simulation result shows that the ball balance robot with optimized controller has the advantages of fast response speed and strong anti-interference in posture control and motion control.

关键词

Keywords

references

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基于高增益观测器的单球移动机器人控制 [J]. 刘飞飞,朱杨林,彭辉辉,刘龙细. 控制工程 . 2020(05)

球形机器人系统建模与仿真 [J]. 廖丹,高宏力,宋兴国,黄晓蓉. 机械设计与制造 . 2020(02)

基于LQR的单球自平衡移动机器人控制器设计与仿真 [J]. 韩雪,苗明辉,张朋. 机械工程师 . 2019(12)

球形全向移动自平衡机器人的建模与控制 [J]. 王江华,张莉,曾建学. 实验室研究与探索 . 2019(09)

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线性二次型球式滚动机器人运动稳定性研究与测试分析 [J]. 袁飞. 中国工程机械学报 . 2018(05)

球上平衡移动机器人线性二次型最优控制 [J]. 贾中华,张少昆. 北京信息科技大学学报(自然科学版) . 2013(06)

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