Since The Balance Wheel Robot Control System Of Research

Only the robot is a typical wheel balance of nonlinear, owe drive, the integrity of thesystem. Because it contact with the ground to minimize the number of points, themodeling and motion control problem is important to control the science and roboticsresearch.Based on this background, this paper designed which vertical flywheel and walkinground the balance of the wheel robot system, and establish its dynamics model; To studythe balance control movement, and made the main research results:(1) The balance of the wheel robot dynamics modelingThe balance of the wheel robot dynamics modeling based on the wheel of the robotsystem dynamics analysis, using Royce equation to build the only round robot systemdynamics model and make use of the simulation results to show correctness of the model.(2) Only the wheel balance robot hardware designThis paper introduces a design from the wheel balance robot system, its most importantstructure characteristics is vertical inertia flywheel and walking round with each other: avertical inertia flywheel adjust balance of the two degrees of freedom; Adjust balancewheel pitch freedom. This structure simulates the characteristics of human ride a unicycle.Based on this, the design with DSP TMS320F2812as the core, and with the stateperception sensor: encoder, dip Angle sensor, the gyroscope, wireless transmission module,etc.; With the motor servo system, be responsible for controlling the motor complete themovement; And with all kinds of man-machine interface to monitor, get information,makedecision, and give the movement control instructions.(3) Only the wheel balance robot software system.Only the robot software system wheel balance of this paper mainly include two parts,part of it is the realization of the bottom of DSP software, another part the wireless testbased on PC and control platform. They mainly complete sensor signal collection of DSPand processing, the control algorithm of operations and control quantity (PWM) and thedirection of the signal output, through the wireless module realize the instructions and datacommunications to PC.(4) Design the fuzzy control algorithmUse of the system has been established the2D dynamic model and design of the fuzzy controller based on fusion function, realizing the balance control the movement of thesystem. The method reduces the number of rules of the fuzzy controller, and improves thesystem of quality control.(5) Design the PC detection platformWe use VC to program testing interface, through the wireless communication module toimplement the two important parts, on the one hand, in the process of testing system, getthe system state data, realize real-time transmission system running in various data to thePC, and the control voltage parameters, then the system analysis; On the other hand,during operation of the system, receive outside sent to it’s instructions, according to theinstruction of the corresponding action.This model in some degree can be used to describe the wheel robot system. It realizesthe system since the balance, motion control and target tracking...