现代电子技术2012，Vol.35Issue(6)：90-92,3.
基于Matlab和Adams的自平衡机器人联合仿真
Matlab/Simulink and Adams based co-simulation for self-balance robot
摘要
Abstract
In order to test the accuracy and the static-dynamic characteristics of the control system of self-balance robots, a virtual prototype system was created based on Matlab/Simulink and Adams. The full state feedback controller was designed by building state spacial formula and configuring the system extremity with LQR method. The control system and the mechanical simulation model of the robot were built in Simulink and Adams. The co-simulation based on Simulink and Adams for the robot was realized. The simulation result shows that the control method can keep the robot's balance successfully and the whole system has a good static-dynamic characteristic.关键词
自平衡机器人/Matlab/Simulink/Adams/动力学仿真Key words
self-balance robot/Matlab/Simulink/Adams/dynamic simulation分类
信息技术与安全科学引用本文复制引用
徐建柱,刁燕,罗华,高山..基于Matlab和Adams的自平衡机器人联合仿真[J].现代电子技术,2012,35(6):90-92,3.基金项目
四川省科技厅科技支撑计划资助(07GG008-026) （07GG008-026）
