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A Control Method of Two-wheeled Self-balancing Robot Based on Some Known Parameters

A control method and self-balancing technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of unconsidered, controller output influence, system instability, etc., to improve performance and maintain stable control.

Active Publication Date: 2018-07-20
HANGZHOU DIANZI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although the changes of these inherent parameters are slow, long-term accumulation will also affect the output of the controller, thereby making the system unstable. However, the controllers of the prior art do not consider the influence of the above factors on it

Method used

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  • A Control Method of Two-wheeled Self-balancing Robot Based on Some Known Parameters
  • A Control Method of Two-wheeled Self-balancing Robot Based on Some Known Parameters
  • A Control Method of Two-wheeled Self-balancing Robot Based on Some Known Parameters

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Embodiment Construction

[0045] see figure 1 , is shown as a flow chart of a two-wheel self-balancing robot control method based on some known parameters of the present invention, including the following steps:

[0046] Step S1: Set up the controller in the main control chip, see figure 2 , shows the functional block diagram of the two-wheel self-balancing robot controller of the present invention, the controller at least includes an angle robust controller, an angle sliding mode controller, a speed robust controller and a speed sliding mode controller;

[0047] Step S2: Obtain the motion parameters of the self-balancing robot, the motion parameters include at least the desired speed actual speed Actual angle θ and angular velocity

[0048] Step S3: at the desired speed and actual speed The speed error e v As the input signal of the speed robust controller and the speed sliding mode controller, obtain the desired angle θ r ;

[0049] Step S4: At the desired angle θ r and the angle erro...

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Abstract

The invention discloses a two-wheel self-balancing robot control method based on some known parameters. A controller is set in the main control chip; the motion parameters of the self-balancing robot are obtained; the speed error ev between the expected speed and the actual speed is used as the speed Lu The input signal of the rod controller and the speed sliding mode controller is used to obtain the expected angle θr; the angle error eθ and angular velocity of the expected angle θr and the actual angle θ are used as the input signal of the angle robust controller and the angle sliding mode controller to control the output The voltage U thereby drives the motor system to move. Adopting the technical scheme of the present invention, the output control of the angle robust controller, the angle sliding mode controller, the speed robust controller and the speed sliding mode controller is realized through the difference as the feedback, thus for the actual two-wheeled self-balancing robot When some parameter estimations are biased, the controller can still maintain a good performance of the two-wheeled self-balancing robot.

Description

technical field [0001] The invention relates to the field of two-wheel self-balancing robot control, in particular to a two-wheel self-balancing robot control method based on some known parameters. Background technique [0002] The two-wheeled self-balancing robot is a self-balancing robot that uses sensors to sense its own state, and then controls the motor rotation through a control algorithm to achieve self-balancing. In recent years, with the continuous improvement of the two-wheeled self-balancing robot technology and the continuous reduction in cost, it has gradually become a means of transportation accepted by more people, making the two-wheeled self-balancing robot begin to change from the experimental research stage to a popular means of transportation. The environment and tasks are becoming more and more complex. [0003] At present, there are various types of balancing robots on the market, most of which use PID control algorithm. This algorithm collects the curr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J5/00
CPCB25J5/007B25J9/161B25J9/163B25J9/1651
Inventor 陈龙胡华满志红黄明马学条
Owner HANGZHOU DIANZI UNIV
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