| The mini-type two-wheeled robot has the characteristics of light weight,compact structure,low energy consumption,zero turning radius and so on,which makes it become suitable to work in the community health service center with a large stream of people and a small moving space.The precondition for a mini-type two-wheeled robot to perform all complex operations is to balance itself,therefore,it is extremely important and significant to make a study on the balance control of mini-type two-wheeled robot,it is also the key point of this thesis to study it,there are four main parts included in this thesis:Firstly,the design of mini-type two-wheeled robot.The first thing is to design the mechanical structure of mini-type two-wheeled robot,the acrylic material with lighter weight and better bearing capacity will be proper making material considering the cruising ability of mini-type two-wheeled robot.Then a force analysis can be made by setting up FEM in its key force position.Finally,design hardware circuits and provide a platform for the realization of control algorithm.Secondly,dynamic analysis of mini-type two-wheeled robot.The first thing is to simplify the structure of robot and make a force analysis on it,the Lagrange equation method can be used to establish its exact mathematical model,and the established mathematical model is verified by Matlab.Then in order to facilitate subsequent control,the model is linearized around the balance point and the state space equation of the two-wheeled robot is obtained.Finally,the mini-type twowheeled robot is proved to be observable and controllable by Matlab.Afterwards,dual-loop nonlinear PID balance control.Firstly,a linear dualloop PID controller is designed by the analysis of the balance-moving feature of mini-type two-wheeled robot,and the effectiveness of the controller for thebalance control of robot is verified by Matlab.Then through analyzing,it can be concluded that the tilting angle of robot is mainly influenced by the gravity of the robot and the driving force of the motor,and there is a tangent relationship between them,combining this tangent function with proportional can form dualloop nonlinear PID controller and reduce the overshoot of robot balance control,the assumption can be verified by Matlab.In the end,an experimental platform is set up to test the balance control of mini-type two-wheeled robot.The results show that the two-wheeled robot has the advantages of small overshoot,small vibration and high stability during operation. |
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