Abstract: This paper presents the strategy to balance a two-bared and two-wheeled vehicle robot under synchronously turning its two bars. Dynamics model of the vehicle robot was established by Chaplygin Formulation. As for the balance controller, the running angle of the robot's wheel was linearized by partial feedback linearization method, and the running angle of the two wheels was taken as input. Moreover, considering the undesirable influence of the drifting controller parameters, a fuzzy algorithm was adopted to tuning these parameters online. On the condition that the handlebars being turn between ±45°, the mode switching numerical simulations of the track-stand motion and the forward movement were performed. The results show that, the pitch angle of the frame can rapidly turn back to a balanced state, and the controller with the fuzzy algorithm has shorter adjustment time and smaller overshoot. Physical prototype experiments further testify the effectiveness of the controlling strategy.

Key words: Two-bared and Two-wheeled vehicle robot, balance control under synchronously bars turning, chaplygin formulation, partial feedback linearization, fuzzy algorithm

摘要： 针对一种具有两个车把的双轮车机器人系统，提出在同步转动车把的情况下使其保持平衡的方法。采用査普雷金方程建立系统的欠驱动力学模型；根据部分反馈线性化原理将车轮转角线性化，并选择车轮转角为控制输入，设计出系统在原地摆把定车和曲线行进的平衡控制器；针对控制器参数漂移对系统的影响的问题，引入模糊算法对其进行在线整定以提高控制效果。对车把在±45°范围内转动时的原地和行进中平衡运动控制进行数值仿真研究。结果表明：车架俯仰角经快速调整可以由初始的倾角恢复到平衡位置，并且引入模糊算法参数整定的控制器具有更短的调整时间和较小的超调量。物理样机试验进一步验证了所提的控制器设计的有效性。

关键词: 双车把两轮车机器人, 同步摆把平衡控制, 査普雷金方程, 部分反馈线性化, 模糊算法