Design and LQ Control of a Two-wheeled Self-balancing Robot

被引：6

作者：

Ruan Xiaogang ^{[1
]}

Liu Jiang ^{[1
]}

Di Haijiang ^{[1
]}

Li Xinyuan ^{[1
]}

机构：

[1] Beijing Univ Technol, Coll Elect & Control Engn, Beijing 100022, Peoples R China

来源：

PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 5 | 2008年

关键词：

Two-wheeled self-balancing robot; LQR; DSP; Gyroscope;

D O I：

10.1109/CHICC.2008.4605775

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The Artificial Intelligence and Robot Laboratory at the Beijing University of Technology, has built a two-wheeled Self-balancing robot which includes a digital signal processor as controller, a gyroscope and an inclinometer and two motor encoder as sensors, two coaxial dc motors, each of which is coupled with a wheel, as implement. The system mathematical model is built up using dynamics mechanics theory and method. The design of the control routine in simulation and DSP both employ LQR control strategy to help the robot to keep balance.

引用

页码：275 / 279

页数：5