The Design And Control Of Two-Wheeled Self-balancing Inverted-Pendulum Robot System

Two-wheeled self-balancing inverted-pendulum robot is a natural unstable system,which can be used to study variable control algorithms due to its own characteristics.It has the features of simple structure,low cost,high energy utilization and so on,and replaces human beings to engage in dangerous and complex labor in many areas which plays an important role.For the past few years,it has become an important branch in the field of robotic research,because it has broad prospects of applications.A two-wheeled self-balancing inverted-pendulum robot based on the BeagleBone Black is designed.The robot uses the MPU 6050 to measure angle and angular velocity which integrates accelerometer and gyroscope,ultrasonic module to measure the distance of the robot and the obstacle,and encoders to measure the wheel speed.BeagleBone Black performs data fusion of the angle and the angular velocity via the kalman filter.so as to obtain more accurate angle values.At the same time,it deals with all the data measured to get a PWM value,which drives the motor through motor driver module TB6612,to achieve the balance of the robot and obstacle avoidance function.A dynamic mathematical model is established according to the classical Newtonian mechanics,a double closed loop PID controller is designed according to the model established,and then simulation experiments is carried out on the design of the controller,which provides the theoretical basis for physical testing.Software is designed according to the hardware design and the operation mode of the system.Eventually,the overall debugging of software and hardware is carried out according to the data of the simulation.Finally,the robot can reach equilibrium,and is able to realize the obstacle avoidance function.