Design And Implementation Of Two-wheel Balance Robot Control System

As a kind of inverted pendulum system,the two-wheeled balancing robot has the characteristics of nonlinearity and natural instability.It has flexible movement and small turning radius.the balanced robot system can be used as a universal robot platform.Various mechanical devices and instruments can be added to the platform to achieve multi-scenario applications,which are used in many industries.The research on the two-wheeled balancing robot is of great significance of improving the intelligence,generalization,and robot management of the two-wheeled balancing robot.The most important thing of the two-wheeled balancing robot design is the posture control and motion control.Firstly,In order to achieve accurate control of the robot’s posture,we start from the single pendulum system and the inverted pendulum system,establish a mathematical model.Secondly,in order to realize robot motion control,a mathematical model of DC motor and a kinematics model of the robot are established.After the establishment of the mathematical model,a PID control strategy was proposed for the balancing robot.Then we analyze the three loops of the balance robot control,namely the attitude control loop,speed control loop and posture control loop.The modular design is adopted in hardware and software to improve the scope of application and the interchangeability of modules.In terms of hardware design,the hardware is divided into six parts: a main control driver board,a communication board,an environment awareness board,an interactive navigation module,a video transmission module,and other peripheral devices.Each module completes a specific function.In the ROS operating system,simulation is generally first performed in the gazebo environment to verify the feasibility and program function.In this paper,a two-wheeled balancing robot physical model and a physical simulation environment are established in the gazebo environment.In the simulated physical environment,Lidar point cloud data and odometer data are used to ma p the surrounding environment,and Rviz software is used for navigation.Joint adjustment and testing of the robot are required before the design of the balancing robot is complete.Before the test,the PID parameters of the balancing robot are set.After the setting is complete,all aspects of the performance of the balancing robot are tested,such as achieving balance,straight driving,and obstacle avoidance.In addition,ROS functional tests for balance robots,APP near-distance control,and remote server joint tuning tests were also performed.