In:
Applied Mechanics and Materials, Trans Tech Publications, Ltd., Vol. 590 ( 2014-6), p. 399-406
Abstract:
A two-wheeled self-balancing robot system is designed, which uses TMS320LF2407DSP as the controller and Mio-x AHRS module as the main sensor. The dynamic model of robot is analyzed by state space model and transfer function. Robot’s physical system control is guided by the result from simulation experiments. A LQR+PID control method is put forward by comparing advantages and disadvantages of LQR control and PID control. The experiments result shows that this control method cuts down the design cycle, and also has a strong robustness. It is suitable for the multi-variable, high-rank, strongly coupling, non-linear two-wheeled self-balancing robot control.
Type of Medium:
Online Resource
ISSN:
1662-7482
DOI:
10.4028/www.scientific.net/AMM.590
DOI:
10.4028/www.scientific.net/AMM.590.399
Language:
Unknown
Publisher:
Trans Tech Publications, Ltd.
Publication Date:
2014
detail.hit.zdb_id:
2251882-4
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