Robust Control Design of Two-Wheeled Self-balanced Robot
A closed-loop PID control method is proposed to address the autonomous dynamic imbalance issue of a Two-Wheel Self-Balanced Robot(TWSBR)during motion.Firstly,a TWSBR dynamics simulation model is established using Simscape Multibody.Then,a PID controller for balancing the robot is designed,taking the speeds of the two wheels as inputs and the position and tilt angle of the robot as outputs.Finally,a closed-loop simulation system is constructed.The simulation results show that,under closed-loop control,when an external disturbance force is applied to the robot,causing it to deviate in angle,the system quickly recovers its tilt angle within 0.6 seconds once the PID controller starts operating.The robot then continues to move forward or back-ward at a constant speed,ensuring that the system possesses a certain level of resistance to disturbances.
万方数据
维普
