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ADRC -based two-wheeled self- balancing robot

Author: ZhouYiZhang
Tutor: YeDaPeng
School: Fujian Agriculture and Forestry University
Course: Mechanical Design and Theory
Keywords: Two-wheeled self- balancing robot Space equation of state ADRC (ADRC) Computer System Simulation
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 176
Quote: 3
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Abstract


Two-wheeled self-balancing robot is a highly unstable wheeled mobile robots , with instability, multi-variable, strong coupling , nonlinearity, parameter uncertainties and other features, has a strong theoretical research value and broad market prospect . ADRC (Active Disturbance Rejection Control, ADRC) is a carry forward the essence of the PID control , and by means of modern control theory observer concept , construct an algorithm is simple , wide adaptability, both inside and outside the control system can automatically compensate disturbance of the new control methods. It does not depend on the control object model has strong adaptability , robustness and operability , widely used in industrial control applications. In this study, the ADRC is introduced into two-wheeled self-balancing robot , robot model has been established through the obtained ADRC -based robot control algorithms and the use of simulation and testing, validation algorithm. Papers specifically described as follows: a ) for the two-wheeled self- balancing robot has been created entities kinematics and dynamics analysis, mathematical model of the system , get the corresponding state space equation . 2 ) The system has been on the state space model for the controllability analysis, based on the design of the pole assignment feedback control system ; depending on whether the decoupling of the system variables are controlled , the design of a single controller and dual ADRC ADRC controller two kinds control systems ; established the corresponding simulink model for the disturbance and setpoint changes , and other simulation , compared to simulation results. The results showed that: the system decoupling control of dual ADRC controller is better than the other two controllers. 3 ) designed to mega16 as the core control system hardware circuit , and the preparation of the corresponding software to achieve a sensor signal acquisition and processing , motor drive, control algorithms and other functions.

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