Control Algorithm and Realization of Adaptive Two-Wheeled Robot

摘要

This system selects STC12C5A60S2 single chip microcomputer as the core processor to control the algorithm and balance state of the balance robot. The robot body is loaded with a gyroscope accelerometer sensor mpu6050 and a magnetoelectric encoder motor 330. The single chip microcomputer filters the data collected by the gyroscope and accelerometer, and processes the upper limit of the integral of the motor output value. Through the conditioning circuit, the sensor collects the horizontal offset angle of the robot body and the wheel rotation speed, and corrects the signal noise and zero offset, so as to complete the attitude monitoring. Using proportional integral differential algorithm, the positive feedback of speed loop and the negative feedback of angle loop are adjusted comprehensively to realize the robot body attitude correction. After debugging, the trolley can achieve self-regulation and balance without the severe impact of the external environment.