The Designing And Real-Time Analysis Of Digital Controller Based On Embedded Technology

Bicycle Robot Self-balance control is a difficult issue in the field of robotics, and the current studies are mainly about the initial theory researches of the system. After some profound studies were made on the basis of previous theories, an integrated digital control system was designed. A mass of experiments had been conducted to verify the designing and to analyze the real-time performance of the system.At the beginning of this paper, the previous research results about bicycle robot dynamic modeling were summarized. A kind of steering control dynamic model for bicycle robot based on Lagrange method was indicated. Based on the model and the theory of quadratic optimal control theory, digital controller of bicycle robot control system was established. The stability, observability and controllability of the bicycle control system were analyzed. In order to validate the effectiveness of the controller based on an embedded platform, the designing details of the control system's hardware and software modules were expatiated. Then, a simple data acquisition system with USB storage devices had been built up. The data acquisition system was used to get the tilting angle of the bike's body and the steering angle of the bike's front wheel at a time. The data of every experiment can be used as first-hand materials for farther analyzing work.In the operating processes of the bicycle robot, in order to ensure the balance of the bike, the controller should send instruction to the executing mechanism according to the current status of the bike as soon as possible. So the system's real-time performance should be high. The time data spent by task scheduling and interrupt response were saved. By quantitative compared to the traditional control strategies, the real-time performance of the controller was improved greatly. And the performance can satisfy the real requirement to a great extent.