Design Of A Two Wheels Self-balance Transportation Robot

Self-balance two-wheels transportation robot is an important branch of the wheeled mobile robot, it’s advantages are as follows:small turning radius, good velocity modulation, simple way to control, energy saving, et al. This kind of robot can be used as transport, which not only can reduce pollution but also can ease the traffic congestion, therefore, it has becomes a hot topic of current research.The key technology of self-balance two-wheels transportation robot is to keep dynamic balance. The main content research of this thesis is self-balancing control of two-wheels self-balancing transportation robot, which aims to design a reliable self-balancing control system.The main contents of this thesis are as following:1.The elemental hardware circuit of the balance control system had been designed, which contains the posture signal detection module, the main circuit driver module of motor driver, et al. The closed loop control system was established by adding the encoder to brush DC motor, which can effectively enhance the stability of the balance car.2. The Multi-sensor signal fusion filtering algorithm based on Kalman filter and Complementary filter were designed to suppress the temperature drift of the acquired signal and enhance its anti-interference capacity.3. The PID control algorithms which contains upright PD control, speed PI control and steering PD control were analyzed.4. The mechanical structure vehicle was designed,which contains mechanical dimension, CAD drawing and mechanical structure of steering linkage.5. Several safe operation algorithms were optimized:pedal alarm when the switch is closed, stop PWM output when the body angle is larger than 40 degrees, steering zero point calculation to eliminate bias.6. The prototype of self-balance two-wheels transportation robot was produced, and the upright PD control parameters tuning had been carried out then the feasibility of their balance control was analyzed and verified.