Researching of Two-Wheeled Self-Balancing Robot Base on LQR Combined with PID

Abstract

Two-wheeled self-balancing robot is a non-stable, non-linear, strong coupling system.On the basis of building up the system structure model,kinetic equation is built up by using the Lagrange' s method,then obtaining the linearizing model in the vicinity of the balance.The control method of combining LQR and PID can effectively overcome the impact of the constraints on the system in the linearization process,and whit the controller core of DSP TMS320LF2812,the two-wheeled self-balancing robot can achieve dynamic balance whitin a larger angle range. The physical experiments results demonstrate that it can control the two-wheeled robot system in a very short period of time to get a stable dynamic equilibrium,validity and rationality of the designed controller are verified through the performance experiments of the prototype.