Design Of Self-balancing Two-wheeled Mobile Robot

As a kind of wheeled mobile robot, self-balanced two-wheeled robot is similar toinverted pendulum. Due to the control complexity and the technique difficulty, therobot quite suits to be an experiment platform of various control theory and methods.Through analyzing the self-balancing two-wheeled vehicle from the domestic andforeign, mechanical structure and hardware of the self-balanced two-wheeled robot aredesigned. The dsPIC30F4011as the control chip, the homemade tilt sensor sensors,gyroscope and homemade motor encoder to compose the detecting system, and remotecontrol circuit, people-machine interface circuit and so on are all designed.According to the robot’s parameters and motion, dynamical model are built, andobtain the system state space expression, design the LQR optimal controller and PIDcontroller, get the expected balancing results and verify the rationality and feasibilityof the system by making the simulation experiments with MATLAB.The senor calibration experiment indicates that the robot’s inclination angle andthe sensor’s error are linear when inclination angle is less than plus or minus10degrees. The gyroscope gets the robot’s angle, and homemade motor encoder gets therobot’s angular velocity quantity. Through comparing the relative merits amongmultiple PID arithmetic, the improved based on incremental type PID of controlalgorithm which is suitable to the system is designed. Finally, the hardware and thesoftware were debugged together that makes the robot balanced and get thecomparatively desired result.