Design And Development Of Two-wheel Self-balanced Robot Platform Control System Based On DSP

A two-wheel self-balancing robot is a new type of wheel robot applying the control theory of the inverted pendulum model.Due to the characteristics of inherent instability and multi-coupling the model itself,the two-wheel self-balancing robot is more complicated to control,But its simple structure,small size,and the characteristics of zero turning radius make it possible to accomplish the task of walking and transporting in a relatively small space.This is of great value in logistics and other special scenarios.At the same time,this feature also has a lot of application space when it is used as a motion platform for other functional devices.Its control theory and development methods are also scalable and valuable in the design of other similar mobile platforms.Therefore,Has a high research significance.This paper starts from the hardware and software system design of two-wheeled selfbalancing robot platform,introduces the hardware structure of the system based on DSP,the hardware design of modular and stackable extension,and then introduces the principle of the main balance control algorithm,based on MATLAB/Simulink and DSP C2000 series controller TMS320F2806 x hardware support package,the use of the abovementioned control principle of angle control-based,speed and direction control to make the system control model set-up.Combined with peripheral interfaces,data acquisition and related data communication module design,and finally by Embedded Coder function to set up the hardware system to achieve the automatic generation of embedded code,the final code into the hardware experimental platform,debugging parameters and functions,to achieve two-wheel self-balancing robot platform control operation,and the necessary secondary Develop and implement observations of their operational data.The test results show that the hardware and software development method designed in this paper can not only realize the function of the two-wheeled robot platform itself,but also provide the interface of secondary development in hardware.The software provides the realization and validation of model-based design to code operation quickly.Therefore,this paper has certain guiding significance and reference value for the design of two-wheeled self-balancing mobile robot platform.