The PWM Servo and LQR Control of a Dual-Wheel Upright Self-Balancing Robot

2008 International Symposiums on Information Processing Pub Date : 2008-05-23 DOI:10.1109/ISIP.2008.151

X. Ruan, Jianwei Zhao

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引用次数: 2

Abstract

The servo control system is designed with TMS320F2812 DSP chip as its core. It solves the problem of the generating of PWM signals, motor velocity feedback and direction and the feedback of the motor current in the servo control system. The structure and mathematical modeling of a dual-wheel upright self-balancing robot are studied. The real experiments are done. The right and left wheels are driven separately by two high precision Direct Current (DC) servo motors with photoelectric encoder. Direct current servo control system of Pulse Width Modulation (PWM) is based on the application of pulse width modulation DC-DC converters. Based on the construction of the structure model for the system, the systematic mathematical model is worked out according to the dynamic mechanics theory. The state feedback controller (LQR) with good robustness is designed on Matlab. The stability of the system is proved by simulation results. The human-like robot can realize all kinds of walking control. Validity and rationality of the system modeling and the controller designing are verified through the performance experiments of the prototype.

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双轮立式自平衡机器人的PWM伺服与LQR控制

伺服控制系统以TMS320F2812 DSP芯片为核心进行设计。它解决了伺服控制系统中PWM信号的产生、电机速度和方向的反馈以及电机电流的反馈问题。研究了双轮立式自平衡机器人的结构和数学建模。真正的实验已经完成。左右两轮分别由两个高精度直流(DC)伺服电机驱动，带有光电编码器。脉宽调制(PWM)直流伺服控制系统是基于脉宽调制DC-DC变换器的应用。在建立系统结构模型的基础上，根据动力力学理论建立了系统的数学模型。利用Matlab设计了鲁棒性好的状态反馈控制器(LQR)。仿真结果证明了系统的稳定性。仿人机器人可以实现各种行走控制。通过样机的性能实验，验证了系统建模和控制器设计的有效性和合理性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2008 International Symposiums on Information Processing

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