Design of Two-Wheeled Self-Balanced Robot Based on Kalman Filter

Ting Gui Li

doi:10.4028/www.scientific.net/AMR.971-973.444

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 971-973Design of Two-Wheeled Self-Balanced Robot Based on...

Design of Two-Wheeled Self-Balanced Robot Based on Kalman Filter

Abstract:

Using the chip MC9S12XS128, two-wheeled self-balancing robot control system is designed. Its posture information is detected by accelerometer MMA7260 and gyro NEC-03, multi inertial sensor data fusion is realized by Kalman filter, posture data optimal estimation is gotten, and the accuracy of posture sensing system is improved. Using integral separation PID control algorithm, controlling the left and right motors are accelerated or decelerated, self-balancing control of two-wheeled robot is achieved. The experimental results show that, using the hardware platform MC9S12XS128, Kalman filter algorithm has high efficiency and posture data fusion is accurate and reliable, requirements which are posture optimal estimation and inclination data real-time feedback are met, and the system is stable and can accurately and quickly realize self-balancing control of two-wheeled robot.

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Periodical:

Advanced Materials Research (Volumes 971-973)

Pages:

444-449

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.971-973.444

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Cite this paper

Online since:

June 2014

Authors:

Ting Gui Li*

Keywords:

Integral Separation PID Algorithm, Kalman Filter, Two-Wheeled Self-Balancing Robot

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* - Corresponding Author

References

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