基于光电传感器的两轮自平衡机器人控制研究

Research on Control of Two-wheeled Self-balancing Robot Based on Photoelectric Sensor

针对两轮自平衡机器人的平衡控制问题,基于LEGO机器人构建两轮自平衡机器人本体,采用光电传感器作为倾角检测元件,替代传统的倾角传感器和陀螺仪,以降低成本且避免倾角传感器和陀螺仪的温度漂移。给出了该机器人的本体构成,根据Euler-Lagrange方法建立系统的数学模型,采用最优控制实现机器人的平衡控制。最后进行物理实验,实现了机器人的自平衡,效果比较好,具备一定的抗干扰能力,证明基于光电传感器的两轮自平衡机器人的控制是合理有效的。

The two-wheeled self-balancing robot’s body was built based on LEGO robotics for balance control problems of self-balancing robot.Photoelectric sensor was adopted as the inclination sensing element,instead of the traditional inclination sensors and gyroscopes,to reduce costs and avoid the temperature drift.The body composition of this robot was given and the mathematical model of the system was established based on Euler-Lagrange method.Meanwhile,optimal control theory was used to achieve balance of the robot.Finally,the physical experiments results show that the robot has good self-balance ability and a certain anti-jamming capability. It is proved that the two-wheeled self-balancing robot’s control method based on photoelectric sensor is reasonable and effective.