Research On The Control System Of Two-Wheeled Self-Erect Mobile Robot

Two-wheeled automatic balance robot is the typical kind of self-balancing robot, their centers of mass are upper than their supporting points. The system is unstable when it is in static state. But in dynamic state, the control system aims to keep the vertical angle within a certain scope to keep the system balance. Since it is small in mechanism and can make a flexible motion, the two-wheeled automatic balance robot is fit for tasks in narrow or complicated surroundings. So it has a wide foreground both in civilian and military application.This paper mainly includes: system structure and working principle analysis, mechanics analysis and modeling of the system, control theory and its application, the realization and co-simulation of the combination of two kinds of control technology.First of all, this paper analyzes the system structure and working principle of robot, then discusses the working principle and presents the qualitative analysis of a special mechanism-gyro mechanism. It brings out the gyroscopic momentum which can overcome the effect of gravitational momentum and erect...