The Design Of The Self-balancing Two Wheeled Robot Based On DSP

The self-balancing two wheeled robot is a new type intelligence robot that based on inverted pendulum model in the classical control theory. It has bright prospect in the resource exploration, military reconnaissance and transportation. This robot is a nonlinear, serious coupling, multivariable and natural unstable system. The control theory, kinematics, electronics and automata theory are combined in the system. And many scientists have researched on the self-balancing two wheeled robot.First of all in this paper, the mathematical model of the self-balancing two wheeled robot is built by doing in-depth research on the mathematical model of the inverted pendulum. Then the linearization of the model is done and the controllability and observability is also proved. After building the mathematical model, the key is to determine the control strategy. The paper discusses two strategies:pole placement and LQR. The effect analysis has been done by the Matlab and then show that the pole placement strategy is better.Secondly, the control chip of robot is TMS320VC5509A DSP which has the superior data processing ability. The robot also has two types of the sensor: the gyroscopes and accelerometer so that the motion state of the robot can be confirmed. The software system is CCS3.3which is convenient for designing the digital filter.Ultimately, the experimental model has been built after debugging and testing times without number. In the meantime, the system identification has been done by Matlab so that the mathematical model can been improved and then the control results will be better.