Modeling and Simulation for Self-balance System

摘要：

Self-balance system is a land of special wheeled mobile robots, a typical device used to test control methods. In this paper, based on mechanical analysis, linear and nonlinear models of self-balance system were established. Controllers were designed, including pole-placement and Iqr controller, according to linear system theory. By using control and simulation tool box of Lab VIEW, pole-placement and Iqr controllers were separately used to control the nonlinear model of self-balance system, in the position of near zero angle, getting relative control ranges. Finally, experiment is designed to simulate the input of two controllers. Simulation results show that the control range of pole-placement controller to nonlinear model is ±0.22 radian, with a small controller input while the Iqr controller has a wider range of even greater than 1.57radian but larger controller input. Therefore,lqr controller has high requirement to motive power part of hardware system and high cost

关键词： Self-balance System pole-placement lqr Labview

作者: Sun Jun Wan Minglun

作者单位: School of Traffic and Mechanical Engineering, Shenyang Jianzhu University, Shenyang, Liaoning, 110168,China

会议类型: 国际会议

会议名称: 2010 International Conference on Digital Manufacturing and Automation(2010 数字制造与自动化国际会议 ICDMA 2010)

会议地点: 长沙

会议语种:英文

页码: 950-954

在线出版日期: 2010-12-18（万方平台首次上网日期，不代表论文的发表时间）