Research And Design Of Two-Wheel Self-Balancing Vehicle System

Two-wheeled self-balanced robot(TSR)has multi-variable,non-linear,strong coupling and parameter uncertainty characteristics which make it to be an imagine platform to verify the control algorithms.And TSR has flexible movement and simple structure,suitable for small space,so it has a wide range of applications under certain complex conditions.So,this paper carried out the experimental research about the material unloading device based on the experimental platform with TSR.According to summarized the TSR research status and studied the TSR design ideas and relevant experience,determine the derection and the content of the paper.And put forward planning of construction of the TSR.Generally speaking,the research content of this topic is divided into four parts.The first,the principle analysis of Related functions and a simplified mathematical model analysis,set up about the transfer function of the body Angle,and use MATLAB to make time domain response curve about the step signal.The second,according to the theoretical analysis and task processing goal,the PID control algorithm is chosen as the control strategy of the system.And based on the correlation experiment,determining the parameters of the PID.The third,design and build the mechanical structure,hardware and software system of TSR.Draw the three-dimensional figure and PCB figure of the TSR.And based on the android platform's APP design,which can sent to the TSR for the control instruction and the online PID parameter debugging instruction via bluetooth.The four,design and compare of relevant data processing algorithm.In the design process,the data processing of the sensor is the core problem that the experiment can carry on smoothly.the M method of hall encoder is used in the speed measurement,and use the four times frequency technology to improve the measurement accuracy.The MPU6050 motion sensor was choosen for detecting the TSR posture,and the detected data was processed according to the DMP algorithm,and the output quaternion was given to MCU,which was more reliable.Finally,this paper has carried on the self-balanced experiment.Observing the phenomena with the control of APP,the self-balancing vehicle experimental platform and the environment layout of the site.The test results show that the designed control system can accomplish the set target and the system performance meets the design requirements,and get the attitude change of body in unloading process.