两轮自平衡机器人系统设计、建模及LQ控制

设计一个以TMS320F2812DSP为控制核心、2个独立驱动的同轴直流电机为执行机构的两轮自平衡机器人,其姿态传感器包括倾角仪、速率陀螺和电机编码器。依据经典牛顿力学建立线性系统数学模型,采用LQR方法得到系统的反馈系数后,进行系统仿真实验和实际物理系统实验。实验结果表明,该系统的建模和控制器的设计是合理和有效的,且所设计的DSP控制程序可以方便的实现其他控制算法,并且可得到系统运行时各状态的值,为数据分析和传感器信号的处理提供方便。

System Design, Modeling and LQ Control of a Two - wheeled Self- balancing Robot

A two-wheeled self-balancing robot is designed,which uses a TMS320F2812DSP as center controller,two coaxial DC motors as actuator independently.Gesture sensors include a gyroscope,an inclinometer and two motor encoders.Based upon Newton dynamics mechanics theory,a mathematical model of linear system is built up.A systematic simulation experiment and physics experiment are accomplished after the feedback coefficients is gained using LQR control strategy.The experiment result shows that the system model and the controller design are reasonable and effective.Besides,the DSP control program may be used for other control algorithms,and values of running states are accessible,which offers convenience for data analysis and sensor signal processing.