System Design Of The Two-wheel Self-balanced Robot

Two-wheel self-balanced robot is a special kind of wheeled mobile robot. Its movement is flexible, the cost is low, it suits in narrow and small and the dangerous spatial work, may zero radius curve, have the widespread application prospect. At the same time, the essential unstable two-wheel self-balanced robot is also one kind of complex investigative test installation, has become the ideal control theory and the control technology research experiment platform.This paper, after summarized and summed up the two-wheel self-balanced robot research status, combining of the two-wheel self-balanced electric vehicle design experience, has put forward planning of construction of the two-wheel self-balanced robot. First this paper has designed two-wheel self-balanced robot's mechanism, and has constructed its hardware and software system. Then this paper proposed the system model's supposition condition, has established system's kinematics model, and has inferred two-wheel self-balanced robot's most greatly controllable angle. Afterward it has carried on calibration of the micro-silicon accelerometer and the micro-silicon gyroscope, based on this has used many kinds of filtering algorithms carrying on the fusion to the micro-silicon accelerometer and the micro-silicon gyroscope information, calculated tilt angle of the robot and has carried on the comparison to each algorithm, has obtained the Kalman filtering algorithm in the speed and the precision superiority. Then this paper has designed photoelectric coded disk's counter module using Verilog HDL language, which provided the speed information for the system, has designed digital double closed loop PID control algorithm, and used it to control the two-wheel self-balanced robot.Finally, this paper has carried on the self-balanced experiment, the linear motion experiment and the collision experiment to the robot. The experimental result indicated that this system's performance can meet the design requirements.