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

Two-wheeled self-balancing robot is one kind of wheeled mobile robot which has simple size and can move with high flexibility. So it has a broad potential application as a new transport vehicle and small robot. Its mathematical model is unstable, multi-variable, and nonlinear in high exponent, and strong coupling. With these features, the robot system becomes an ideal platform to prove the control effect of kinds of control algorithm, so it has very important theoretical research sense.Most of current control methods of self-balancing robot used simplified linearized mathematical model, and the control effect is not very well. Base on project "Research on key technology of moveable parts of robot" which supported by Shanghai Science and Technology Commission, a two wheeled self-balancing robot was designed, and deeply research on mathematical modeling method, control platform building method was done in this paper. Finally, the control effort of self-balancing robot was improved by a new method. The main research contents and achievements were as follows.1. Considering the characteristic of the designed robot, current control methods were researched and related experiments were done in this paper. The weak points of current methods were analyzed and it provides a way to improve the control method.2. In order to remedy the lack of control effects and robustness of current control methods, a new control method which combined linear control method with fuzzy control was given in this paper. Through theoretical analysis and experiments, it is proven that the new method was right and the control efforts were improved.3. A modular, well-opened and high real time control system was designed in this paper, which can support for demanded project and further research on control algorithm well.