The Design Of Self-Balancing Robot Based On H∞Controller

The self-balancing robot is a classical controlled objective with nonlinearity and strong coupling. The design and analysis of the control system of self-balancing robot could expand into the related research area in nonlinearity, such as the aircraft, robotics, etc.. So, it contains huge research value to research on the self-balancing robot.From the view of control performance, this dissertation discusses the choice and analysis of the hardware system in the first step, which includes the master controller of DSP2812; attitude measurement system based on the methodology of data fusion, which includes the gyroscope and angular accelerometer; motor servo system; and power module. In the second step, the kinetic characteristic of self-balancing robot will be determined by building the nonlinear model. To use the Lagrange methodology, there are two equivalent model established, which are used in the nonlinear simulation and the controller design respectively, and then the linearization technique are discussed in this part. Finally, the simulation are demonstrated to verify the results. In the design of control system, the model-based methodology that is also called V-model, which is used in the control system, are implemented to integrate the theory and practice perfectly.The quality of the self-balancing robot is of crucial importance. However, the self-balancing robot does not have a fixed structure. So, for the one with different structures, the attitude measurement system and motor servo system are also different. For example, the small scale robot can save the data fusion algorithm and servo system in the process of design, because of the micro mass and the lower center of mass. On the contrary, the attitude measurement and servo system are necessary in our system. So, we implemented the Kalman algorithm and synchronous operation for a double-motor that is based on the safety, finally, the simulation and practice are conducted to verify the results.The self-balancing robot belongs to the dynamic balance system, also, it is a naturally unstable system. So, it is very important to analyze its robustness. In the finished control system of this self-balancing robot, the state feedback controller based on the robust H∞are used, and we also prove the design approach of the robust H∞state feedback controller. Finally, the LMI are conducted to solve the controller. To compare with other algorithms and conduct the practice, the advantages of the robustness are verified in the last step.