Design And Realization Of A High Reliability Control System For Two-wheel Self-balanced Mobile Robot

With the application of two wheeled self-balancing mobile robots,the reliability of its control system has become a hot topic.To cope with the problem of poor reliability of self-balancing mobile robots by using attitude measurement system built by single MEMS,in this paper,an redundancy attitude measurement system and efficient redundancy management strategy are designed based on the characteristics with low cost and high integration of the MEMS to ensure the high reliability of the attitude control system.And in order to solve the problem of two rounds of differential control error due to the complex terrain,which could greatly affect the reliability of the system,a differential control error compensation strategy based on the Z axis of gyroscope information is designed on account of the analysis of the velocity error testability,which improve the precision of the differential control error and the heading-angle reliability of the self-balancing mobile robots.Firstly,the development status of the high reliability of mobile robot control at home and abroad and the key technologies are reviewed in this paper,through the establishment of dynamics model and control model of the mobile robot,the control system framework and the overall structure of software and hardware are established,and provide the theoretical foundation and reference basis for the design of the control system software and hardware.Secondly,the main and backup redundant attitude measurement system,the efficient inertial sensor fault detection algorithm and the residual management strategy are designed based on the analysis of the relationship between the residual principle and reliability.At the same time,the design of the power supply module,microcontroller and attitude sensing module is carried out.And the first-order IIR filter is designed to preprocess the attitude sensor data to improve the signal-tonoise ratio of attitude data in the calculating link of complementary filtering.Thirdly,on account of the analysis of self-balancing mobile robot of the differential control error testability,the differential error compensation control strategy is designed based on the Z axis of gyroscope information,using the Z axis error between the output signal and the reference heading-angle speed to construct PID controller for the correction of differential control error.And hardware design and implementation of motor drive module,velocity measurement module and error compensation module of attitude control system are carried out.The self-balancing mobile robot motion model is established and the effectiveness of the compensation strategy is verified in the Matlab environment.Finally,a system debugging method based on wireless communication is designed in this paper.The reliability index of the redundant attitude measurement system and attitude control system is tested.The results show that the method above can effectively guarantee the high reliability of the self-balancing mobile robot control system,and has certain reference value for the design of high reliability control system of self-balancing mobile robot.