Research On Two-wheeled Self-balancing Robot System Traction Based On Electromagnetic Navigation Technology

Two-wheeled self-balancing robot belongs to the category of the wheeled robots. The robot is small in mechanism and can make a flexible motion. It has a wide foreground both in civilian and military application. As the same time, the instability of balancing robot systems will also be an excellent test bed for control theory experimentation. This paper based on the characteristics of the two-wheeled self-balancing robot, such as nonlinear, unstable, researching on the motion control and the balancing control problem. And the paper introduce the theory of electromagnetic navigation, make the robot system we designed can fulfill the task of autonomous mobile along the path.Firstly, after research on the relevant information in this field both domestic and abroad, this paper build a self-balanced robot system, which can complete the electromagnetic navigation tracking, and introduced the Working principle of it and main function modules of components in detail.Secondly, through kinematics analysis of robot, we build the dynamic model by using Lagrange equation. Then we make the robot system becomes two single input single output systems, which are the speed control system and the posture control system. We chose the combination of neural network and model reference adaptive control, and put it to the design of robot control system.Finally, we simulate electromagnetic navigation, and get the simulation of the autonomous tracking of the robot system.