Design Of Redundancy Control System Based On Two_Wheeled Self_Balancing Robot

Nowadays,planar mobile robot has been usaged widely in fields of industry,However,the concept of two-wheeled self-balancing robot was presented laterly,so its application technology is in search of deeper development. Moreover,the robot is simple in mechanical structure and can move flexibly,work in narrow and dangerous space. Therefore, it has a wide application prospect in civilian, military and aeronautics.This paper mainly focuses on the system stability,the redundancy control system designing based on dual-ring BLDC motor and the power supply management.The self-balancing principle of the robot comes from the inverted pendulum control techniques.This system is a non-linear, serious coupling, multi-variable and unstable system.The stability is the key point to self_balance system,a linear mathe model is built near the system balance point by Lagrange method,and its decoupling model is also worked out in order to reduce the control designing complexity. Meanwhile,analyse the controllable and the peak allocation of the control model by MATLAB.The master controller based on DSP2407A , the power driver with IR2110,the gyro for detecting the slope angle of the wheele,the photoelectric coded disk and the dual-ring BLDC motor are made up of the hardware control system .As to the system's balancing control arithmetic,the variable parameter self_adaptation PID controlling method is described profoundly.Then ,to avoid mechanical error from motor rings to the rotor gear,the feedforward control ideas is taken into support. Also,by way of soft start_up skills can decline the impact power from the BLDC rotor to the gear wheele.For the carrier motor would be held high reliability and safety,and to improve the system's reliability and safety,the high performenc hardware control system and the power supply management are made to real time detect the power's voltage,current,temperature and the remain capacitor. Two same BLDC motor control system control one dual_ring BLDC motor at the same time ,namly, dual_redundancy controlling .Later,solve the synchronization problem and make out the arbiter between the two same systems.The power supply's status from battery is critical to the reliability and safety to the whole system.Thus, a battery power supply manager is designed out by battery management specific chip DS2788 to inline detect the battery's voltage,current,temperature and remain capacitor.Much more,it can impove the battery's working efficiency and prolong the age of the battery.