Design of a wheeled inverted pendulum robot

WANG Zhi-xiang; LIU Yi-jian; CAO Nan

doi:10.13873/J.1000-9787(2016)04-0108-03

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Design of a wheeled inverted pendulum robot

更新时间：2025-09-11

- Design of a wheeled inverted pendulum robot
- Vol. 35, Issue 4, Pages: 108-110+115(2016)
- 作者机构：
  
  南京师范大学电气与自动化工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2016)04-0108-03
  CLC： TP13;TP242
- Published：2016
- 稿件说明：
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[1]汪智祥,刘益剑,曹楠.一种轮式倒立摆机器人设计[J].传感器与微系统,2016,35(04):108-110+115.

WANG Zhi-xiang, LIU Yi-jian, CAO Nan. Design of a wheeled inverted pendulum robot[J]. 2016, 35(4): 108-110+115.
[1]汪智祥,刘益剑,曹楠.一种轮式倒立摆机器人设计[J].传感器与微系统,2016,35(04):108-110+115. DOI： 10.13873/J.1000-9787(2016)04-0108-03.

WANG Zhi-xiang, LIU Yi-jian, CAO Nan. Design of a wheeled inverted pendulum robot[J]. 2016, 35(4): 108-110+115. DOI： 10.13873/J.1000-9787(2016)04-0108-03.

摘要

倒立摆是检验各种控制理论的理想模型

通过它可以判断各类控制算法的有效性和控制性能。为此

结合K60微控制器强大的运算能力和丰富的接口功能

设计了该轮式倒立摆机器人

可以通过它验证各种新型控制算法。硬件上介绍了与姿态控制相关的姿态检测系统和电机驱动单元。软件上介绍了根据系统数学模型设计的互补滤波器、姿态控制器、方向控制器和速度控制器。实验结果表明:该系统具有良好的鲁棒性和稳定性

可以准确地对控制算法的有效性和控制性能进行判断。

Abstract

Inverted pendulum is an ideal model for testing different control strategies

through which effectiveness and control performance of various control algorithms can be judged. A control system for wheeled inverted pendulum is designed by using powerful operation function and interface of K60 micro control unit（ MCU） based on ARM Cortex-M4

and it is used to verify various new type control algorithm. For hardware

attitude detection system and motor driver unit which related to attitude control are introduced. For software

complementary filter

attitude controller

direction controller and velocity controller are introduced according to math model for system.Experimental results show that the control system has good robustness and stability

and it can exactly judge validity and control performance of control algorithm.

关键词

Keywords

references

惯性/光流/磁组合导航技术在四旋翼飞行器中的应用 [J]. 杨天雨,贾文峰,赖际舟,邓一民. 传感器与微系统 . 2016(01)

基于CMOS摄像头的直立循迹智能车系统设计 [J]. 吴苗苗,沈世斌,王亮,李昊洋. 自动化技术与应用 . 2014(07)

基于自适应互补滤波算法的轮式倒立摆控制 [J]. 兰建军,李佳璐,刘颖,张秀宇. 组合机床与自动化加工技术 . 2014(06)

两轮自平衡机器人的研究 [D]. 王晓宇. 哈尔滨工业大学 2007

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