两轮移动式倒立摆机器人系统结构及模型设计

倒立摆是典型的非线性控制系统，集机器人技术、人工智能技术、计算机控制技术于一体，两轮倒立摆是一种两轮式左右并行布置结构的自平衡系统。采用DSP最小系统实现控制模块的设计，采用倾角传感器、陀螺仪、编码器等保持系统的自平衡，通过它们测量和计算出小车的状态参数。进而通过微分计算出小车左、右车轮的角速度，再通过控制系统与PC机之间的通信，得出倒立摆系统的控制规律和运动模型，在平衡点附近对系统进行线性化处理，得到系统的运动仿真曲线，并分析系统的稳定性和能控性。

Design of the system structure and the model of two-wheel mobile inverted pendulum robot

Inverted pendulum is a typical nonlinear control system, integrating robot technology, artificial intelli- gence technology and computer control technology. Two-wheel inverted pendulum is a self-balanced system with a structure of two wheels paralleled on the right and left. Design by using DSP minimum system eontrol module is to keep self-balance of the system through the angle sensor Takahashi Ji, multi variable, strong coupling and strong robustness for nonlinear systems, with which to measure and calculate parameters of cars and then calculate the angular velocity of right and left wheels. The communication between the control system and the PC machine is used to decide the control law and the motion model of the inverted pendulum system. Near the equilibrium point, the system is linearized to get the motion simulation curve of the system and analyze the system stability and controllability