简易两轮自平衡机器人的设计与制作

两轮自平衡机器人与倒立摆的基本原理相同，都是自动控制理论的典型研究对象，但要自行制作都有一定难度。介绍了用市场上很容易买到的玩具车改装而成的两轮自平衡机器人。在单片机的控制下，实现了连续稳定的直立平衡。可以作为自动控制系统的实验平台，进行各种控制算法的可行性与效果验证。

Easy Self-balancing of Two-wheeled Robot's Designing and Making

The two-wheeled self-balancing robot and the inverted pendulum have the same basic principle.They both are the typical theory study object of the automatic control,which they all have a little difficulty to make.This paper describes the two-wheeled self-balancing robot which refits with the toy car bought from market.Under the control of the single chip microcontroller,the robot can achieve a continuous and stable upright balance.