The LQR control and design of dual-wheel upright self-balance Robot

Abstract

The structure and mathematical modeling of a Dual — wheel upright self-balance Robot are studied. The simulation and the real experiment of robot are done. The system is made up of a mobile mechanism, sensor for posture observation and the controller. The right and left wheels are driven separately by two high percision DC servo motors with photoelectric encoder. Direct current servo control system of PWM based on application of pulse width modulation DC-DC converters. Gyro scope and angle sensors are used for posture observation. On the basis of building up the system structure model, the system mathematical model is built up using dynamics mechanics theory and method. The optimal controller LQR (the state2feed back controller) is designed on Matlab..the system has good robust. By using TML language it is convenient to program and debug all kinds of arithmetic on IPM100. The stability of system is proved by simulation results. The real robot as human being can realize all kinds of walking control. Validity and rationality of the system modeling and the designed controller are verified through the performance experiments of the prototype. Building a self-learning robot.