Research on Control Method of Two-wheeled Self-balancing Robot

摘要：

Based on Newton dynamics mechanics theory make a study of two-wheeled self-balancing robot, a detailed mathematical model of the modeling process is provided, and then, using the reasonable method, a linear state-space equations is built up. After that, the LQR controller and state-feedback controller based on pole placement theory are both designed. After a number of simulation experiments, we get the best closed-loop poles and Q, R matrix, both of which have good simulation curves at the same disturbance force. The results of experiments prove that both of them have good dynamic performance and robustness, which also prove the system modeling and controller design are reasonable and effective via these methods. The curves from LQR controller have a better dynamic performance compare with pole placement state-feedback controller.

关键词： LQR Pole Placement Two-wheeled Self-balancing Robot Control Theory

作者: Wu Junfeng Zhang Wanying

作者单位: Harbin University of Science & Technology, Harbin, Heilongjiang, 150080, China

会议类型: 国际会议

会议名称: 2011 Fourth International Conference on Intelligent Computation Technology and Automation(2011年第四届智能计算技术与自动化国际会议 ICICTA 2011)

会议地点: 深圳

会议语种:英文

页码: 476-479

在线出版日期: 2011-03-28（万方平台首次上网日期，不代表论文的发表时间）