Design and Control of a Two-Wheel Self-Balancing Robot using the Arduino Microcontroller Board

被引：0

作者：

Juang, Hau-Shiue ^{[1
]}

Lum, Kai-Yew ^{[1
]}

机构：

[1] Natl Chi Nan Univ, Dept Elect Engn, Puli 54561, Taiwan

来源：

2013 10TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) | 2013年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper reports the design, construction and control of a two-wheel self-balancing robot. The system architecture comprises a pair of DC motor and an Arduino microcontroller board; a single-axis gyroscope and a 2-axis accelerometer are employed for attitude determination. In addition, a complementary filter is implemented to compensate for gyro drifts. Electrical and kinematic parameters are determined experimentally; PID and LQR-based PI-PD control designs, respectively, are performed on the linearized equations of motion. Experimental results show that self-balancing can be achieved with PI-PD control in the vicinity of the upright position.

引用

页码：634 / 639

页数：6

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