Research On Intelligent Algorithm Of The Two-wheeled Self-balanced Robot With Various Loads

As an unstable wheeled mobile robot, the two-wheeled self-balanced robot itself is a multi-variable, nonlinear, highly coupled system, making it ideal experimental platform for verification of various control algorithms and control theory. Meanwhile, the two-wheeled self-balanced robot's flexibility in moving, low cost, simple structure makes its prospective application very broad. Deep scientific research activity on the two-wheeled self-balanced robot has profound theoretical and practical significance in the improvement of the research in the robotics field in our country to accelerate the practical application of universal robots.The mechanical structure has an important influence on motion control and self-balance of the two-wheeled self-balanced robot. After careful research on the relevant information in this field both domestic and abroad, this paper build a complete two-wheeled self-balanced robot system simulation and experiment platform, introduce the mechanical structure of the two-wheeled self-balanced robot. The attitude detection module is designed and analyzed. In considering the the error of the attitude detection system, in order to improve the accuracy and control accuracy of the system, the silicon micro-accelerometer and silicon micro-gyroscope were calibrated. The Kalman filter is also introduced for the data fusion and conducted experiments are carried out.By the analysis of the two-wheeled self-balanced robot motion rules,the kinematic models of the wheels, body, load and the overall system are established separately, and the dynamic model is established based on the Lagrange method, providing a theoretical basis for the design of the robot control algorithm.Since the balance control is the basis of the two-wheeled self-balanced robot. this paper established self-balancing controller to complete the two self-balanced robot balance control using TS fuzzy model based on a dynamic model of the robot, and stability analysis is carried out. Simulation results show that the self-balancing controller using TS fuzzy model can effectively achieve the balance control of the two-wheeled self-balanced robot. Research on the balance control of the effect of different loads for the two-wheeled self-balanced robot is also carried out.Finally, the hardware experiment system platform of the two-wheeled self-balanced robot is established. The self-balance control with and without load experiment, interference experiment and the crash experiment are carried out respectively, to testify the basic movement for the proposed function of the robot were. Experiment results show that the design of the two-wheeled self-balanced robot and the intelligent control algorithm can effectively achieve the goal of the balance control.