LQR+PID Control and Implementation of Two-Wheeled Self-Balancing Robot

Bang Gui Zheng; Yi Bin Huang; Cong Ying Qiu

doi:10.4028/www.scientific.net/AMM.590.399

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 590LQR+PID Control and Implementation of Two-Wheeled...

LQR+PID Control and Implementation of Two-Wheeled Self-Balancing Robot

Abstract:

A two-wheeled self-balancing robot system is designed, which uses TMS320LF2407DSP as the controller and Mio-x AHRS module as the main sensor. The dynamic model of robot is analyzed by state space model and transfer function. Robot’s physical system control is guided by the result from simulation experiments. A LQR+PID control method is put forward by comparing advantages and disadvantages of LQR control and PID control. The experiments result shows that this control method cuts down the design cycle, and also has a strong robustness. It is suitable for the multi-variable, high-rank, strongly coupling, non-linear two-wheeled self-balancing robot control.

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Periodical:

Applied Mechanics and Materials (Volume 590)

Pages:

399-406

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.590.399

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Online since:

June 2014

Authors:

Bang Gui Zheng*, Yi Bin Huang, Cong Ying Qiu

Keywords:

Balance Control, Dynamic Model, LQR+PID, Two-Wheeled Self-Balancing Robot

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* - Corresponding Author

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