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Journal of Theoretical and Applied Information Technology 20th January 2013. Vol. 47 No.2 ? 2005 - 2013 JATIT LLS. All rights reserved. ISSN: 1992-8645 E-ISSN: 1817-3195 DATA ACQUISITION SYSTEM OF A SELF-BALANCING ROBOT BASED ON FPGA 1DAODE ZHANG, 2QIANG WANG, 1CHENG XU 1School of Mechanical Engineering, Hubei University of Technology Wuhan, China 2Nanjing Research Institute of simulation technology Nanjing, China hgzdd@126.com ABSTRACT For inverted pendulum principle of two-wheeled self-balancing robot, this paper describes the use of FPGA controller for attitude sensor data acquisition system design. Using Verilog HDL hardware description language data acquisition module and A / D converter module, it can have the attitude sensor data of the FPGA control system collected early and accurately , and the way is given to solve the multi-sensor data collection, using the area reuse and reconfiguring idea of FPGA .The results show that the system is stable, reliable, accurate data collection. Keywords: Self-Balance Robot ；FPGA ； Data Acquisition ；Verilog HDL 1. INTRODUCTION acquisition system in two-wheeled self-balancing robot, and the system can provided the follow-up To be accompanied by continuous and rapid data source for it. development of science and technology, FPGA