지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 발행연도
- 2013
- 저작권
- 부산대학교 논문은 저작권에 의해 보호받습니다.
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This paper discusses about balancing and driving control of unicycle robot. Unicycle robot
consists of reaction wheel pendulum and inverted pendulum, the top of robot is reaction wheel
pendulum mode and the bottom of robot is inverted pendulum mode. Control method of this robot
is model based controller which needs dynamic equations of a system. This paper sets a total
model of unicycle robot in 3 dimensions. Dynamic equations are obtained by using this 3D model
of unicycle robot and Lagrange equation which uses relation of kinematic and potential energy.
Controller designed at each part of Roll axis is sliding mode controller and of Pitch axis is LQ
regulator. After setting sliding surface, controlled variable is obtained. Controlled variable of sliding mode control is sum of equivalent input and robust input. Equivalent input of sliding mode
control is obtained from derived dynamic equations of unicycle robot. As robust input, sigmoid
function is used to reduce chattering phenomenon generated in general sliding mode control. In
LQR, the state feedback gain is obtained from using state space equation and weight matrix. The
designed controller is applied to controlling balance and driving of unicycle robot. First
experiment is balancing control which demonstrates difference between sigmoid function and
signum function. Second experiment is driving control that includes straight, return and velocity
controlled driving, this experiment also show whether can control balance or not. The result of
experiments confirmed the effectiveness of our proposed control.
consists of reaction wheel pendulum and inverted pendulum, the top of robot is reaction wheel
pendulum mode and the bottom of robot is inverted pendulum mode. Control method of this robot
is model based controller which needs dynamic equations of a system. This paper sets a total
model of unicycle robot in 3 dimensions. Dynamic equations are obtained by using this 3D model
of unicycle robot and Lagrange equation which uses relation of kinematic and potential energy.
Controller designed at each part of Roll axis is sliding mode controller and of Pitch axis is LQ
regulator. After setting sliding surface, controlled variable is obtained. Controlled variable of sliding mode control is sum of equivalent input and robust input. Equivalent input of sliding mode
control is obtained from derived dynamic equations of unicycle robot. As robust input, sigmoid
function is used to reduce chattering phenomenon generated in general sliding mode control. In
LQR, the state feedback gain is obtained from using state space equation and weight matrix. The
designed controller is applied to controlling balance and driving of unicycle robot. First
experiment is balancing control which demonstrates difference between sigmoid function and
signum function. Second experiment is driving control that includes straight, return and velocity
controlled driving, this experiment also show whether can control balance or not. The result of
experiments confirmed the effectiveness of our proposed control.
목차
1. 서 론 52. 로봇 모델링 82.1. 동역학 모델 93. 제어기 설계 183.1. Roll축 슬라이딩 모드 제어기 설계 193.2. Pitch축 LQR 제어기 설계 243.3. 채터링 감소 294. 실험결과 324.1. 자세 제어 344.2. 직선 주행 354.3. 왕복 주행 374.4. 속도 제어 주행 395. 결 론 42참고문헌 43Abstract 46
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