ABB FI830F 3BDH000032R1 全新到货PLC自动化备件

ABB FI830F 3BDH000032R1 全新到货PLC自动化备件

ABB FI830F 3BDH000032R1 全新到货PLC自动化备件

动态模型

FI830F 示出了独轮机器人的模型。它由陀螺进动系统、框架和底轮组成。陀螺进动系统中有2个陀螺及其进动。这两个陀螺仪转速相同，方向相反。同样，陀螺仪的进动角速度相同，方向相反。在这种结构中，它可以在横向方向上起到扭矩的作用，也可以抵消纵向方向上引起的干扰

控制器设计

FI830F 在本节中，控制器是根据上一节中提出的动态方程设计的。动态模型方程过于复杂，在设计控制器之前需要对其进行简化、分析和分解。

模拟和实验

在这一部分中，设计的控制器分别在仿真环境和实验中得到验证。同时，与经典的代表性控制器进行了比较。

结论

FI830F 提出了一种利用双陀螺进动效应实现横向平衡的独轮机器人，并根据其动力学模型设计了一种自适应模糊控制器来实现平衡控制。所设计的控制器由自适应控制器和模糊控制器两部分组成。自适应控制部分增强了双陀螺独轮机器人的抗干扰能力。模糊控制器部分旨在减少耦合干扰

ABB FI830F 3BDH000032R1 全新到货PLC自动化备件

Dynamic model

FI830F shows a model of a one-wheeled robot. It consists of a gyroscopic precession system, a frame and a bottom wheel. There are two gyroscopes and their precession in a gyroscopic precession system. The two gyroscopes rotate at the same speed and in opposite directions. Similarly, the precession angular speed of the gyroscope is the same and the direction is opposite. In this structure, it can play the role of torque in the transverse direction, but also can offset the interference caused in the longitudinal direction

Controller design

FI830F In this section, the controller is designed according to the dynamic equation presented in the previous section. The dynamic model equation is too complicated, which needs to be simplified, analyzed and decomposed before designing the controller.

Simulation and experiment

In this part, the designed controller is verified in simulation environment and experiment respectively. At the same time, it is compared with the classic representative controller.

conclusion

In FI830F, a single-wheeled robot is proposed to achieve lateral balance by using the precession effect of double gyro, and an adaptive fuzzy controller is designed according to its dynamic model to achieve balance control. The designed controller consists of two parts: adaptive controller and fuzzy controller. The adaptive control part enhances the anti-interference ability of the double gyro monwheeled robot. The fuzzy controller part is designed to reduce coupling interference