Research Of Two-wheeled Self-balanced Robot's Disturbance Rejection Control

The two-wheeled self-balanced robots,such as the mobility scooters,wheelchairs for the disabled and mobile robots,have been widely used in daily life,for the reason that they have simple structure,flexible movement and small footprints.With the continuous and intensive studies for nearly half a century and the development of control theory,it is possible for the robot to complete various tasks in complex working environments,such as in an uneven and slope pavement.Therefore,improving the ability of the two-wheeled self-balanced robot' s disturbance rejection and making it complete various tasks stably and quickly under some complex environments have become the emphases of this research.In theory,the Lagrange method is used to analyze the dynamic models of a two-wheeled self-balanced robot both on the plane and on the undulating road.Based on the dynamic model of the two-wheeled self-balanced robot on the undulating road,the active disturbance rejection controller of the vertical subsystem and the displacement subsystem are designed,and the PD controller of the steering subsystem are designed as well.Then,the active disturbance rejection controller is modified,and the dynamic surface active disturbance rejection controller is designed by using the dynamic surface control method.The system model with disturbance and the system model with unknown disturbance are controlled by different control methods.The disturbance rejection abilities of several control methods are compared by simulation,and the results show that the active disturbance rejection controller has the best control effect.In the experiment,the mechanical system,the hardware system of the control system and the software of the upper and lower computer are completed by considering the functional requirements of the two-wheeled self-balanced robot.The control system of the lower computer uses the stm32f103ze as the main controller,and the auxiliary function modules include the power module,attitude detection module,Wi-Fi module,display module,motor driving module and etc.The main controller receives the data from each sensor module,it processes and calculates the data,and then it outputs the control signal to the DC motor driving module.The upper computer software is developed by the vs2013.The data transmission of upper computer and lower computer is realized by the Wi-Fi module,and the experimental data is recorded and analyzed.The results have established the hardware and the theoretical basis for expanding the study of the two-wheeled self-balanced robot.