The PWM Servo and LQR Control of a Dual-Wheel Upright Self-Balancing Robot

摘要

The servo control system is designed with TMS320F2812 DSP chip as its core. It solves the problem of the generating of PWM signals, motor velocity feedback and direction and the feedback of the motor current in the servo control system. The structure and mathematical modeling of a dual-wheel upright self-balancing robot are studied. The real experiments are done. The right and left wheels are driven separately by two high precision Direct Current (DC) servo motors with photoelectric encoder. Direct current servo control system of Pulse Width Modulation (PWM) is based on the application of pulse width modulation DC-DC converters. Based on the construction of the structure model for the system, the systematic mathematical model is worked out according to the dynamic mechanics theory. The state feedback controller (LQR) with good robustness is designed on Matlab. The stability of the system is proved by simulation results. The human-like robot can realize all kinds of walking control. Validity and rationality of the system modeling and the controller designing are verified through the performance experiments of the prototype.