Research On Modeling And Control Method Of Two-Wheeled Self-Balancing Vehicle Pendulum Robot

After entering the 21 st century,as a kind of bionic robot system with unified structure and principle,the two-wheeled self-balancing robot attracts great interest from researchers because of its static and unstable dynamic characteristics.With all kinds of advanced two-wheeled robots emerging one after another,the robot's mechanism and control algorithms are constantly being updated.As a new member of the mobile robot family,the two-wheel self-balancing robot has the advantages of light weight,compact structure,flexible maneuverability,zero turning radius,etc.It is very suitable for use in small and crowded environment,and it has broad application prospects as a convenient transportation and manned tool.The two-wheeled selfbalancing robot is also an ideal mobile robot platform being applied to more fields,which can be equipped with various intelligent equipment and mechanical devices to form a new robot system.Therefore,research on related control methods of two-wheel self-balancing robot has important academic value.Although as a typical strong coupling,nonlinear,static instability system,the traditional two-wheeled selfbalancing robot system can not meet its needs in some complex application scenarios.Especially in the field of spacecraft and complex robot control,the traditional robot control methods do not provide guidance on technical methods.Traditional twowheeled self-balancing robots can often be used as convenient transport tools.However,the users need to stand on the robot so that they are prone to fatigue when driving for a long time.When the robot is uphill and downhill,the robot itself cannot keep upright,which will pose a safety hazard to the driver.When using the platform to transport liquids or other precision equipment that requires standing upright at all times,it is also prone to cause accidents.Aiming at these shortcomings of the traditional two-wheeled robot,this paper proposes a two-wheel self-balancing vehicle pendulum robot system,which focuses on improving the stability,maneuverability,safety and guidance of complex systems for two-wheeled self-balancing robots.The main research contents and achievements of this paper are as follows:Referring to the complexity requirements of the control system,a two-wheel selfbalancing vehicle pendulum robot is developed,and the construction method and implementation method of the robot mechanism and control system are presented in detail.In addition to the characteristics of the traditional two-wheeled self-balancing robot,the developed robot also possesses a single pendulum that can swing freely on a plane and dynamically adjusts the position of the center of gravity of the robot through a single pendulum,which effectively improves the traditional two-wheeled robot control system and optimizes the robot's control algorithm.Attitude measurement acts as the precondition for the two-wheel self-balancing robot to achieve balance control.According to the attitude measurement requirements of the two-wheel self-balancing vehicle pendulum robot,the characteristics of the sensing element are analyzed and the attitude detection method is proposed based on gyroscope and accelerometer.With the data filtering method being analyzed,adaptive extended kalman filtering scheme is proposed and deeply researched.In-depth study has been conducted on the motion law of the two-wheel selfbalancing vehicle pendulum robot.The kinematics and dynamics model of the robot is established based on the Lagrange equation.With the dynamic model being deeply analyzed,the reduction and decoupling are performed at the same time and the twowheel self-balancing vehicle pendulum robot is decomposed into a straight-line subsystem and a steering subsystem.The straight-line dynamics is processed under the assumption so that the complex dynamics of the robot is simplified,which greatly facilitates the design of the robot controller.In addition,based on the dynamics model of the robot,the dynamic characteristics of the robot are studied and the steady motion law of the robot is obtained.A recursive LQR balance control algorithm based on linear model was proposed to solve the balance control problem of two-wheel self-balancing vehicle pendulum robot,recursive LQR algorithm achieves discrete linearization near the equilibrium point,which ensures the accuracy of the algorithm.An adaptive fuzzy algorithm is proposed for the nonlinear system model,which takes the nonlinear system directly as the controlled object,by constructing fuzzy system and adaptive law,the model can be precisely controlled.In-depth analysis has been conducted on the motion control problem of the two-wheel self-balancing vehicle pendulum robot.According to the mathematical model of the robot,the straight-line and steering control strategies of the robot are proposed.In the same way,the straight-line control strategy of the robot is presented based on the straight-line dynamics model of the robot and the steering controller of the robot is designed based on the dynamic steering model of the robot.The effectiveness of the control method is verified by the dynamic simulation experiment of MATLAB.Physical experiments were carried out on the platform of the two-wheel selfbalancing vehicle pendulum robot,including balance control experiment,straight-line control experiment,steering control experiment and anti-interference experiment.The experimental results show that the two-wheel self-balancing pendulum robot possesses good balance performance and anti-interference ability,and the expected effect has been achieved.In the meanwhile,the validity of the kinetic model and the control method is also demonstrated.