Single-wheel Robot Controller Design And The Lateral Balancing Experiments

Either it is the oldest industrial robot that just can repeat a single movement ora modern kind with artificial intelligence technology, which can judge and moveautomatically, the robot controller is always the most important part in these robotsystems. With the development of computer technology, electronic technology andsensor technology, the controller is playing an increasingly important role for theimprovement and application of the robot technology.This paper presents a single-wheel robot controller design for the vertical rotorstructure model, based on the state-feedback balancing control strategy by the titleangle and velocity. According to different functions, the controller hardware hasbeen divided into3parts including the state detection unit, the balancing controlunit and the motor control unit. Accelerometers and gyroscopes are used to detectthe title angle and velocity respectively, and this two-sensor structure design helpsto improve the detection accuracy and cut down the drift influence. High-speeddigital signal processing chip have been employed in the balancing control unit andmotor control unit so as to gain a high performance. Additionally, CAN buscommunication is built between the two units.The lateral posture stability has a great influence on the balancing andtrajectory track control, and because of its under-actuated, it will be much moredifficult to keep stability and gain strong robustness. So in the paper, itdemonstrates the design of the lateral balancing control experiment. In this part, theprogram structure is built, which involves the state-feedback detection program,motor speed control program, UART and CAN communication program and the PDbalancing control program. The UART codes help detecting the procedure of theexperiment. Finally through trying adjusting the parameters, step by step, thebalancing control experiment achieved a good result.The experiment achieved a good balancing control result, which verified thefeasibility of the controller with the high-performance DSP and state-feedback oftitle angle and velocity structure.