Motion Control Of Two - Wheel Self - Balanced

Two-wheeled self-balancing robot is a kind of complex nonlinear system based on inverted pendulum model, which is a good experimental platform to verify different kinds of control algorithms. Two-wheeled self-balancing robot has many advantages such as small size, compact structure, and the characteristics of the motor ability, along with the excellent performance in the narrow environment. Meanwhile, it can be used as a convenient, environmental protection of transportation, with a broad application prospect in Pedestrian Street and other places.In this paper, we take the Two-wheeled self-balancing robot as the research object. The main task is to implement the Two-wheeled self-balancing robot motion control. The main contents included:1. Analysis of dynamic and static characteristics of inertial gyroscope and accelerometer sensors, where each error model is established. According to the characteristics of the inertial sensor, combining with Kalman filtering theory, we can implement multiple inertial sensor information fusion for calculating the robot’s posture angle.2. Application of Newton’s mechanics method is used to establish the mathematical model for the motion control of Two-wheeled self-balancing robot, and to analyze the characteristics of the robot’s movement. Combined with the structure of the robot. The robot’s motion control can be divided into attitude control, speed control and direction control three control tasks.3. According to the mathematical model of Two-wheeled self-balancing robot, robot is analyzed in term of the coupling relationship between three control tasks and dynamic process. Application industries usually use open method to control the frequency and implement three relatively independent control between the control tasks. PID controller is applied to implement the motion control of the robot, which is based on the actual operation of the objective. Based on the existence of abnormal state, the PID controller is improved. A "fast calculation slow output" speed control algorithm show a good result in motion control. And a dual speed loop speed control algorithm realize the speed control and direction control of the robot on wheels’ level by closed loop control.4. By using self-designed Two-wheeled self-balancing robot platform, we designed the attitude algorithm above, which is verified by the experiments in feasibility and effectiveness of the motion control method. And the Two-wheeled self-balancing robot safety protection strategy is introduced.The theory and experiment results have showed that the method involved in the research of attitude algorithm and motion control strategy is effective. Although with the limitation of many factors such as the experiment platform, the running speed and safety of the robot is not as good as the actual manned vehicle. It still provide a valuable reference for the motion control of Two-wheeled self-balancing robot.