Study On The Two Wheeled Self-balancing Robot With Active Swing Arm

The two-wheeled self-balancing robot is a multivariable,strongly coupled,non-linear,naturally unstable control system.It is a classic control theory model,but also a variety of control algorithms to detect the advantages and disadvantages of the experimental device,has a very high academic value,has been the attention of scientists at home and abroad.The traditional two-wheeled self-balancing robot has a great influence on its balance and has the problem of uneven quality distribution.On the other hand,in the robot acceleration and deceleration or downhill during the process,can not keep the body is always vertical,as a means of transport,will give passengers to bring unsafe ride experience.In view of these problems,this paper proposes an active swing arm two-wheeled self-balancing robot,that is,on the basis of the usual two-wheeled self-balance robot,a pendulum that can swing forward and backward.In this paper,the simplified modeling of the active swing arm two-wheeled self-balancing robot is carried out,and the kinematics and dynamics model of the system are established according to the kinematics and Lagrangian function method.Among them,the balance and straight from two angles modeling and analysis of the balance point.Aiming at the established model,the control strategy of the robot is designed,and the PID and LQR control algorithms are used.In this paper,the mechanical system design,the control part of the components were selected;completed the preparation of the software system,developed a robot system prototype.The balance performance,straight performance and climbing performance of the two-wheeled self-balancing robots with active swing arm are verified by carrying out the actual physical experiment,including the balance control experiment,the velocity control experiment and the slope walking experiment.At the same time,Learning model and control strategy and the effectiveness of the control algorithm.