Design and Control of a Self-Balancing Robot

被引：0

作者：

Stanese, Mihai ^{[1
]}

Susca, Mircea ^{[1
]}

Mihaly, Vlad ^{[1
]}

Nascu, Joan ^{[1
]}

机构：

[1] Tech Univ Cluj Napoca, Automat Dept, Str G Baritiu 26-28, Cluj Napoca 400027, Romania

来源：

PROCEEDINGS OF 2020 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS (AQTR) | 2020年

关键词：

D O I：

10.1109/aqtr49680.2020.9129935

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 presents the mechanical, electrical, software, controller design and implementation for a two-wheeled robot, having the goal of maintaining it's equilibrium by itself. In order to create this robot, the mechanical structure was designed, such than an exact replica could be constructed using a 3D printer and a laser cutting machine. Having the robot created and the mathematical state-space model defined, the system's parameters were identified and validated. Then, a linear quadratic regulator (LQR) which would achieve auto-balancing was determined. Finally, the closed loop control system was tested in order to evaluate the achieved results.

引用

页码：243 / 248

页数：6