Two-wheel Self-balancing Mobile Robot System Design

Two-wheeled self-balancing mobile robot has two coaxial and independently driven wheels,which can automatically balance attitude,turn with small radius,and even turn in situ and arbitrarily.Its trajectory is more flexible than traditional multi-wheeled robot and tracked robot,and it overcomes the shortcomings of complex structure of multi-wheeled system,making it suitable for complex occasions with small area.Two-wheeled self-balancing mobile robot is a rare bearing platform,which has important value for human life,industrial production and scientific research.According to the structure and motion characteristics of two-wheeled self-balancing mobile robot,a mechanical model based on inverted pendulum is established,and its theoretical analysis is carried out.By analyzing the distribution of zero and pole of transfer function,the condition of system balance is obtained,and the control scheme is put forward.The gyroscope and accelerometer are used to collect the acceleration and angular velocity of the system,but these parameters are affected by many uncertainties,so they are not accurate.In this paper,data fusion filtering is used to provide more accurate and smoother attitude information for the system model.In order to balance the system model,feedback control is added to realize the automatic balancing motion of the system through appropriate PID algorithm.The simulation results show that Kalman filter can not only reflect the current tilt change of the robot in time,but also output a smoother data curve.Kalman filter can provide more accurate attitude information for the self-balancing system model.The hardware circuit and software program are used to validate the fusion filter module and the PID control module.Through the debugging of the PID,the dual-wheel self-balancing system can achieve the functions of vertical motionbalance and turning in motion,and run smoothly,and achieve the desired design effect.