Design And Implementation Of Control System For A Kind Of Two-Wheeled Self-Balancing Robot

The concept of two-wheeled self-balancing robot was presented at the end of 1990s,which belongs to the category of the wheeled robots.The robot is simple in mechanism structure and can move flexibly,and it can work in narrow and dangerous space.So it has a wide application prospect in civilian,military,aeronautics.The self-balancing principle of the robot comes from the control on inverted pendulum;this system is a non-linear,serious coupling, multi-variable and unstable system.It's also an ideal model to test and verify all kinds of control principles,so it becomes the hotspot in the research field.In this paper,I promoted the old control system based on the previously research on Self-balancing RobotⅠ,its barycenter is under the axle line between two motors,and hemispheroid shells are fixed on the two wheels,so the robot can keep balance.But the robot has a fault that it can't keep steadily moving when we control it by a remote control.In the promoted control system,gyroscope is used to test robot posture;the robot's self-balance comes from certain control algorithm.The new control system was successfully applied in the Self-balancing RobotⅡwhose mechanism structure was redesigned.Following works are being discussed in the paper:1)The simplified model of two-wheeled self-balancing robot was built, kinematics and dynamics analysis was discussed,and these works laid the foundation for control policy and algorithm research.2)In the new control system of Self-balancing RobotⅠ,gyroscope was introduced for testing robot posture,CAN bus was used to connect the main controller,sensor,motor controller,and the communication protocol was CANopen.The control algorithm made the robot to keep balance by itself,so we achieved the aim that it can move steadily with carrying a person.3)A right control algorithm was brought forward after several common control algorithms were compared and analyzed,in order to prove the right of the algorithm having a collaborative control simulation based on ADAMS and MATLAB for Self-balancing RobotⅡ.4)Hardware control system was constituted for Self-balancing RobotⅡ,the software programs were designed for processing information tested by gyroscope,displaying information by liquid crystal display module, turning direction by handlebar,driving dual-windings brushless DC motor.The program structure flow charts were analyzed and all the program modules were tested separately,finally the whole control program was finished successfully.5)The robot's hardware and software system were united to be debugged and tested,in order to achieve the ideal control aim,the hardware and software system should to be promoted and perfected continuously.