The Design of Two-Wheel Mobile Platform Using Digital DC Servo Motor Based on CompactRIO
This paper describes some main design methods of the mechatronics system and control system of the self-balancing two-wheel mobile platform based on a CompactRIO embedded controller, two digital DC servo motors with two odometry encoders, etc. We use mechatronics-oriented virtual prototyping tools to design the mechatronics system using SolidWorks and LabVIEW. And we use fuzzy controller to control this mobile platform. Through several experiments of self-balancing, linear running, it was confirmed that the mobile platform could realize stable mobile motion in a flat surface environment by the fuzzy controller. Using these methods, we have designed a two-wheel mobile platform to keep itself balancing in order to carry something from someplace to another in the future. The two-wheel mobile platform has been manufactured successfully by CIMS & Robotics Center of Shanghai University. The self-balancing control software and the other software have been developed.
Qi Luo and Yuanzhi Wang
Y. J. Liao et al., "The Design of Two-Wheel Mobile Platform Using Digital DC Servo Motor Based on CompactRIO", Advanced Materials Research, Vols. 181-182, pp. 92-98, 2011