Research On Control Strategy Of Two-wheeled Self-balancing Robot

Two-wheeled self-balancing robot,which has been developed in recent years,is an important part of wheeled robot.It has the characteristics of light weight,flexible movement and simple structure.It is suitable for moving in crowded and narrow environment.It can also be used as a manned transportation tool widely in industry,life,service industry and other fields.At the same time,two-wheeled robot is a special inverted pendulum mobile robot.Its dynamic model is a complex underactuated non-linear model.Its control task is complex.While maintaining balance control,it also needs to complete speed tracking and other tasks.Therefore,two-wheeled self-balancing robot is an ideal test platform for studying various control methods.Firstly,based on the analysis of the motion law of two-wheel self-balancing robot,the kinematics model of the robot is established.Then,the force relationship between each part of the two-wheeled robot is analyzed,and the dynamic model of the two-wheeled robot is established by Newton mechanics.The balance subsystem and steering subsystem are obtained by linearizing and decoupling the mathematical model.Based on the mathematical model,the performance of the system is analyzed.Finally,the maximum controllable angle of the robot is deduced through the model analysis,which provides a theoretical basis for the design of the control strategy of the robot.According to the requirement of attitude measurement of two-wheeled robot,the output characteristics of accelerometer and gyroscope are summarized.On this basis,complementary filtering and Kalman filter are designed to fuse the information of accelerometer and gyroscope,so that the attitude angle of two-wheeled robot can be more accurate.In the aspect of control arithmetic,aiming at the self-balancing control of two-wheeled robots,a fuzzy-PID controller is designed.According to the current system state and the fuzzy rules,the controller constantly deduces and adjusts the parameters of the PID control,so that the system can achieve a better operation state.The fuzzy-PID control is compared with the traditional PID controller by simulation.Fuzzy-PID controller has better control effect for selfbalancing of two-wheeled robot.Aiming at the speed and steering control of two-wheeled robot,the linear quadratic optimal controller and the improved sliding mode variable structure controller are designed,and then the simulation experiment is carried out.It provides an effective solution for the motion control of two-wheeled robot.Finally,the hardware and software design of the two-wheeled self-balancing robot is completed,and the test results are analyzed on the test platform.