Research on Control Method of Two-wheeled Self-balancing Robot

摘要

Based on Newton dynamics mechanics theory make a study of two-wheeled self-balancing robot, a detailed mathematical model of the modeling process is provided, and then, using the reasonable method, a linear state-space equations is built up. After that, the LQR controller and state-feedback controller based on pole placement theory are both designed. After a number of simulation experiments, we get the best closed-loop poles and Q, R matrix, both of which have good simulation curves at the same disturbance force. The results of experiments prove that both of them have good dynamic performance and robustness, which also prove the system modeling and controller design are reasonable and effective via these methods. The curves from LQR controller have a better dynamic performance compare with pole placement state-feedback controller.