Research Of Control Technology For Two-wheeled Self-balancing Robot

Brushless DC Motor had made a rapid development with the development of new Permanent Magnetic materials, Microelectronics, Automatic Control technology and electronics, especially the development of High Power Switching Device. The development of the wheeled robot was promoted by the development of the BLDC. The two-wheeled self-balancing robot belongs to the category of the wheeled robots and combines with the idea of autonomous moving. The robot is small in mechanism and can make flexible motion. So it is fit for tasks in narrow and dangerous space and has a wide foreground.First, the mechanical body of the two-wheeled self-balancing robot was researched. The BLDC was chosen as the drive components of the robot after the comparison of several commonly used motor. The structure, the working principle and the control method of the BLDC was introduced in the article.Second, based on the BLDC we chose, take TMS320LF2407 as the comtrol chip of the system, choose the suitable accelerometers, gyroscopes and GPS module, the control circuit whose core is TMS320LF2407, the BLDC driver circuit whose core is IR21362, the system power circuit and the communication circuits were designed and debugged.Finally, the self-balancing control method and the self-navigation method were researched. Base on the mathematical model of the two-wheeled self-balancing robot, the LQR controller was used to deal with the self-balancing. The expected balancing result was got after the simulation made by simulink; based on the GPS/MEMS system, the model of the joint kalman filter was build. The algorithm of the information coefficient based on joint kalman filter was brought up. Relative simulation experiments were made by MATLAB. And high precision and dynamic performance of the self-navigation system was ensured.