Research And Development Of Two Wheeled Moving Robot

Two-wheeled moving robot is a part of the wheeled robots.The robot is flexible and small,so it has a large foreground in all kinds of application.Otherwise the robot is a nonlinear and multi-variables system,it is a good test bed for many control algorithms.To supply a convenient experiment system for researching and developing on this robot,this paper research and design a two-wheeled moving robot system.This paper's major job include:(1). establish the mathematical model for the analysis of the robot.(2). Based on the rapid prototyping thinking,this paper design controller with DSP,and driver for DC motor.The hardware has interfaces and provides link with MATLAB/Simulink.(3). The software designs Kalman Filter to filter the noise in sensors and Linear Quadratic Regulator control algorithms to make the robot move in balancing.(4). Besides, To reduce developers'heavy programming C code for developing control algorithms and emulator for downloading program, a MATLAB/Simulink-based rapid development and downloading by serial communications method was designed. The developers use existing blocks in MATLAB to build control model, and generate directly executable codes through Real-Time Workshop function of MATLAB. Downloading code by serial communications interface can reduce the cost.(5). The expetiments validate the hardware and software at the end of this paper.The experiments include DC motor speed control,two-wheeled moving robot balance control.The results show the efficacy of the algorithms,and provide that the system in this paper is reliable.