Research On Cooperative Stability Control System Of Multiaxial Platform On Two-wheel Balancing Vehicle

With the development of science and technology,intelligent robot with two-wheel balancing chassis has attracted more and more attention in recent years.Because of its small size,flexible moving ability,adaptability of complex environment and other advantages,it has been widely used in television shooting,sports events,military reconnaissance and other fields.However,when encountering complex weather conditions or passing through the rough road,it is difficult to keep the line of sight(LOS)stable for optoelectronic equipment.In order to solve the problem of LOS stability in the case of interference,it is decided to use the three-axis stabilized platform as the connecting device between the camera and the robot body to ensure a stable and clear shooting effect.In this paper,the three-axis stabilized platform is taken as the research object,and its system framework and operating principle are studied.Quaternions method is used to obtain the spatial attitude angle of three-axis platform,and built the platform coordinate.In order to improve the control performance of platform,a new current,speed and position closed-loop control mode based on vector control strategy of PMSM is proposed.Analyzing the multi-dimensional disturbance caused by the two-wheel balancing vehicle during its operation,this paper decides to use Active Disturbance Rejection Control(ADRC)to compensate the attitude angle error of platform,and use the multiaxial motor cooperative control strategy to improve the motion performance of each axis.A cooperative stabilization control system suitable for the platform on two-wheel balancing vehicle is designed.Then observed the anti-interference performance of platform through the feedback information of motor position encoder on each axis.The simulation and experimental results show that the ADRC control strategy has higher control accuracy than PID control strategy.The adjusting speed and stability are increased by 20% and 50%respectively.And the cooperative control strategy can also improve the coordination and robustness.These control strategies are more suitable for solving the anti-interference problem of multiaxial platform on two-wheel balancing vehicle.