A NOVEL CONFIGURATION OF TWO-WHEELED SELF-BALANCING ROBOT

被引：8
作者：
Qian, Qingwen [1 ,2 ]
Wu, Junfeng [3 ]
Wang, Zhe [2 ]
机构：
[1] Harbin Univ Sci & Technol, Robot & its Engn Res Ctr, 52 Xuefu St, Harbin 150080, Heilongjiang, Peoples R China
[2] Huangshan Univ, Coll Mech & Elect Engn, 39 Xihai St, Huangshan 245041, Anhui, Peoples R China
[3] Harbin Univ Sci & Technol, Coll Automat, 52 Xuefu St, Harbin 150080, Heilongjiang, Peoples R China
来源：
TEHNICKI VJESNIK-TECHNICAL GAZETTE | 2017年 / 24卷 / 02期
关键词：
double inverted pendulum; fuzzy optimal control; information fusion; Lagrangian formulation; two wheeled self-balancing vehicle-pendulum system;
D O I：
10.17559/TV-20160608105436
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A novel design of the two-wheeled self-balancing robot (TWSR) was presented in this research. The robot was called two-wheeled self-balancing vehiclependulum system (TWSVPS). Compared with TWSR, the TWSVPS has a single pendulum (SP), which was passively jointed to the robot body through the O-1 axis. The difficulty and complexity of control and modelling were increased due to the additional degree of freedom (DOF) which was offered by the SP rotated around the O-1 axis. To simplify the analysis, the TWSVPS can be considered to be the mobile double inverted pendulum. Lagrangian dynamic formulation is used to derive the system dynamics due to its relative simplicity. The parallel double fuzzy controller based on information fusion technology was designed and simulated in MATLAB. The results show that the method is feasible and TWSVPS has excellent moving stability. The new developed configuration is of great importance in various applications including self-balance robots, wheelchairs on two wheels, stability analysis of multi links system etc.
引用
收藏
页码：459 / 464
页数：6
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