A Two-wheeled Self-balancing Robot Control System Design And Research

Two-wheeled self-balancing robot is a important branch of the study of mobile robots,which relates to the field and subject including mechanical、electronic、sensor、automatic control and signal processing and other disciplines.Its balance principle is similar to the inverted pendulum and it has the characteristics of nonlinear, strong coupling.The structural characteristics of the two-wheeled self-balancing robot is two wheeled coaxial and parallel arrangement.The acceleration sensor and gyroscope were used to detect the tilt angle and angular velocity of the forward lean and backward lean.A speed measuring element was used to detect the speed of the mobile robot.The information was transferred to the Microprocessor.The Microprocessor calculated the control value to make the posture change of robot system.Since the first balance robot Segway appearing on the market, has attracted the attention of all sectors, but its high market price makes people step back, and its application field is relatively limited, only the tool of ride instead of walk.When used in the complex filed environment and temperature detected occasions, once the robot lose balance, it will not continue to work, can’t realize self-restore balance.Two-wheeled self-balancing robot must always be in working state in order to maintain balance, the battery will soon run out.It cannot be used for intermittent working occasions. Therefore reducing the cost, riching two-wheeled self-balancing robot functions,making two-wheeled self-balancing robot can self-recover balance,working in intermittent occasions,reducing energy consumption have become the focus of research.Therefore, this paper proposes a Two-wheeled self-balancing robot control scheme,which aims to expand its application field, reduce energy consumption, cost, realize remote control,can be self restoring balance etc.. The main contents of this paper are mainly embodied in the following aspects.1. Analysis the two-wheeled self-balancing robot mechanical model,establishment mathematical equations,completing robot’s structure design;2. The hardware circuit design of the balancing robot had completed,using STM32 as the main control chip control system, attitude sensor mpu6050 is used to detect the attitude of therobot, the Bluetooth module as the wireless communication unit;3. The software design of the balancing robot, posture sensor data acquisition and processing method had completed,two commonly used data fusion filtering algorithm including complementary filter and Kalman filter had introduced,the MATLAB for data fitting of two filtering algorithms had compared;4. According to the mathematical model, a balance control algorithm of the system had been designed, aiming at the self balance robot system nonlinear characteristics,a fuzzy PD controller which used to control the self balancing robot system and used for parameter turning control algorithm in the balance had designed;5. A remote client control software which communicating with robot system, had been programmed by using C++,the functions of the remote client to change the operation of the robot posture and the robot system can deliver the running parameters to the client interface to display had realized;After that,starting the remote client,configuring the operation environment,powering on the two-wheeled self-balancing robot,we can see that,the communication of client and robot system was good,the balanced robot had been running smoothly,the function of automatic recovery balance via remote control had been realized,which achieving the goal of the design.