The System Design Of Motion Controller Of Two-Wheeled Robot Base On FPGA

Advantages of the Two-wheeled self-balancing robot: small size, simple structure,flexible movement, a small space to work. These advantages of the Two-wheeledself-balancing robot create the conditions in the wide range of military and civilianapplications. The special structure of the two-wheeled robot two robot control algorithm is akey issue for future development.In this paper, the Two-wheeled self-balancing robot modeling, simulation and do adetailed analysis and study to the two kinds of motion balance control methods. The mainresearch achievements obtained as follows:First: using Lagrange method of mathematical modeling.In this paper, at first the Two-wheeled self-balancing robot dynamics analysis, usingLagrange method to establish the mathematical model of the system, then the system equationlinear process, and according to the system of the robot measured parameters cancontrollability and observability, stability judgment. Finally the first theorem of Lyapunovprovides a theoretical basis for the subsequent controller design theory to prove the feasibilityof the experiment.Second: for the linear model, design LQR controller.According to linear after the system model, the design LQR controller, research the Qand R matrix to control the system performance index of the effect, the selection of relativelygood parameter simulation experiment, the results show that the LQR control method iseffective.Third: design the hardware and software for the detection system of the Two-wheeledself-balancing robot.Take advantage of the advanced features of the SOPC IP editor from line custom PWMnuclear, to enable them to adjust the speed of the DC motor output adjustable duty cyclesquare wave.Design the attitude detection unit circuit, establish the error model of sensors,and did the calibration test according to the error mode. Estimate kalman filtering algorithmin the posture of Two-wheeled self-balancing robot of the optimum.Forth: for the linear model, design PID controller, realized the Two-wheeledself-balancing robot control.According to the system linear model, design double closed loop feedback PID controller.The simulation experiment mainly observed the balance control period angle and angular velocity changes. The experimental results show that the double closed loop feedback PIDcontrol effectiveness.Fifth: In view of the subject design of the two kinds of controller, simulation to carry onthe practice, made Two-wheeled self-balancing robot self-balancing experiment,anti-interference experiment, and rate tracking experiment.The experimental results show that two kinds of controller performance meet therequirement of design, We found relatively sensitive PID control to meet expectations afterrapid correction.According to two wheel robot system， so we finally choose the PIDcontroller.