Development of a Twowheel Balancing Robot （两轮平衡发展机器人）.pdfVIP

Development of a Two-wheel Balancing Robot using the STM32F3-Discovery Board as an Educational Platform for Traditional and Modern Control Schemes Phillip Eustace Rukidi, John Manuel Fernandes and Grant Phillips Electrical Department, Faculty of Engineering, Built Environment and Information Technology, Nelson Mandela Metropolitan University, Port Elizabeth, South Africa s209007898@live.nmmu.ac.za and John.Fernandes@nmmu.ac.za Abstract 鈥 This paper discusses how a two-wheel self-balancing Mega board, which is based on the very popular ATmega2560 robot using the STM32F3-Discovery development Board from ST processor. This required, in addition to the basic hardware, a microelectronics can be used as a practical teaching platform for single-axis gyroscope and a 2-axis accelerometer for attitude traditional and modern control schemes. The robot is first determination. Two control designs based on the linearized modeled and then its electronic architecture is reviewed. Methods equations of motion were adopted: a proportional-integral- for accurate angle estimation and the implementation of traditional control, namely the PID algorithm to achieve differential (PID) and a proportional-integral proportional- balancing/ stability are also discussed. Relevant graphical results differential (PI-PD) controller based on linear-quadratic are also provided as evidence of the system鈥檚 response and