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Design and Implementation of Two-wheeled Self-balancing Inspection Robot

Author: DanJiMing
Tutor: BaiYuLong
School: Northwest Normal University
Course: Electronics and Communication Engineering
Keywords: Two-wheeled Self-balancing Robot PID Control Kalman Filter Inspection Robot WiFi
CLC: TP242
Type: Master's thesis
Year: 2013
Downloads: 17
Quote: 0
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Abstract


Two-wheeled self-balancing robot belongs to the category of wheeled robots. This kindof robot is small and flexible. It can adapt to different kinds of working environment. So therobot has wide prospects in the field of both industry and military. Self-balancing robot is atypical unstable control system, and the control strategy of this system can be applied to somelarge two-wheeled self-balancing robot system. Topics about self-balancing robot becomes ahot issue that of great significance in both theoretical and practical aspects.In this thesis, a two-wheeled self-balancing inspection robot is designed based on theinverted pendulum model. Meanwhile, the mathematical model and control strategy areanalyzed. This system consists of SCM system, power supply module, motor drive module,posture sensor module, data acquisition module,video capture module and WiFi module. Thissystem is of high stability and reliability, and it can capture video and other kinds of signals.It also can be controlled remotely through the host computer.PID control is applied to the system and Kalman filter is used to optimize the angle datain this paper. Simulation experiments are done before debugging. Experimental result showsthat the physical system, mathematical model and appropriate control strategies are rational,effective and feasible. After debugging, video signal, environmental data and controlinstructions can be transmitted via WiFi. The robot can collect environmental data and can becontrolled remotely.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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