The invention discloses a self-balancing robot control method and system, a self-balancing robot and a medium, the self-balancing robot comprises a front handle and a front handle controller, the front handle controller provides steering torque for the front handle, and the method comprises the following steps: obtaining a target self-balancing state and a current self-balancing state of the self-balancing robot; based on the target self-balancing state and the current self-balancing state, determining steering torque to be provided for a front handle of the self-balancing robot according to anonlinear function; wherein the target self-balancing state comprises a target self-balancing roll angle and a target movement speed, and the current self-balancing state comprises a current self-balancing roll angle and a current movement speed; wherein the nonlinear function is constructed based on the mass and the mass center position of the self-balancing robot, the current movement speed andthe target movement speed of the self-balancing robot, the rotational inertia of the self-balancing robot, the current self-balancing roll angle of the self-balancing robot and the target self-balancing roll angle of the self-balancing robot.

    公开了一种自平衡机器人控制方法、系统、自平衡机器人及介质,自平衡机器人包括前把及前把控制器,前把控制器为前把提供转向转矩,且该方法包括:获取该自平衡机器人的目标自平衡状态和当前自平衡状态;基于目标自平衡状态和当前自平衡状态,根据非线性函数确定要提供给自平衡机器人前把的转向转矩;以及通过前把控制器将所述转向转矩提供给该前把,其中,目标自平衡状态包括目标自平衡侧倾角和目标运动速度,当前自平衡状态包括当前自平衡侧倾角和当前运动速度;非线性函数基于自平衡机器人的质量和质心位置、自平衡机器人的当前运动速度及目标运动速度、自平衡机器人的转动惯量、自平衡机器人的当前自平衡侧倾角及目标自平衡侧倾角所构造。


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    Title :

    Self-balancing robot control method and system, self-balancing robot and medium


    Additional title:

    自平衡机器人控制方法、系统、自平衡机器人及介质


    Contributors:
    WANG SHUAI (author) / CUI LEILEI (author) / ZHANG ZHENGYOU (author)

    Publication date :

    2020-08-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62K Fahrräder , CYCLES / B62M RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES , Antrieb von Radfahrzeugen oder Schlitten durch den Fahrer



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