The Research Of Two-wheel Balance Robot Based On Pid And Lqr Control Theory

The paper aims to research and develop an two-wheel experiment device, the two-wheel is made of left and right wheels and the mechanical body, the device is a multivariable, strongly coupled, highly unstable and nonlinear control system, the balance robot is a classical control theory model and the experiment to detect the control algorithm. The research on this area all over the world have great significance. No matter industrial control or military field, the research always plays an important role. And presently the balance-robot is developed to be an transport tool. This mode of transportation is more green, energy-saving and convenient, and gradually become an indispensable means of transport in park and golf course. The two-wheel balance system is a power plant made of simple mechanical structure and complex electronic structure,With the data from posture sensor, the motor make the robot stabilize come ture based on the feed-back control. Firstly, the paper analyzes the status and direction of the research at home and abroad and the significance of the research. Secondly, modeling the system with Newton mechanics and Lagrange dynamic, and analyze it through contrast, then confirm the model with Simulink of MATLAB, Thirdly, analyze the hardware parts from mechanic and electric side. Fourthly, define PID and LQR control, make a contrast about the two styles through the analysis of its pros and cons. Finally, make a conclusion of the balance robot performance with entity experiment.At the end of the research the module design and debugging should be accomplished and then integrate the two parts, confirm the correctness system model, algorithm and program.