A Cascade PD Controller for Heavy Self-balancing Robot

被引：5

作者：

Okulski, Michal ^{[1
]}

Lawrynczuk, Maciej ^{[1
]}

机构：

[1] Warsaw Univ Technol, Inst Control & Computat Engn, Ul Nowowiejska 15-19, PL-00665 Warsaw, Poland

来源：

AUTOMATION 2018: ADVANCES IN AUTOMATION, ROBOTICS AND MEASUREMENT TECHNIQUES | 2018年 / 743卷

关键词：

Self-balancing robot; Cascade PD controller; Gyroscope; Accelerometer; Feedback control; MODEL;

D O I：

10.1007/978-3-319-77179-3_17

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 describes control system for dynamic equilibrium finding of a self balancing (two-wheeled) heavy robot. Two cascade-connected Proportional-Derivative (PD) controllers are used to balance the robot and keep the desired driving speed (or standing still). A simple and efficient algorithm for tilt calculation takes data from three sensors: a gyroscope, an accelerometer and a contactless magnetic encoder. The PD controller output is combined with manual (remote) driving signals to control Electronic Speed Controllers (ESC) of two high-torque electric motors. Finally, experimental results and recommendations to cope with difficulties are discussed.

引用

页码：183 / 192

页数：10

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