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
收藏
页码：183 / 192
页数：10
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