简易两轮自平衡机器人的设计与制作  

Easy Self-balancing of Two-wheeled Robot's Designing and Making

作　　者：杨慧[1] 王富东[1] 范腾[1] 葛峰[1] 陈婷[1] 

机构地区：[1]苏州大学机电工程学院,江苏苏州215021

出　　处：《工业控制计算机》2011年第9期89-90,共2页Industrial Control Computer

摘　　要：两轮自平衡机器人与倒立摆的基本原理相同,都是自动控制理论的典型研究对象,但要自行制作都有一定难度。介绍了用市场上很容易买到的玩具车改装而成的两轮自平衡机器人。在单片机的控制下,实现了连续稳定的直立平衡。可以作为自动控制系统的实验平台,进行各种控制算法的可行性与效果验证。The two-wheeled self-balancing robot and the inverted pendulum have the same basic principle.They both are the typical theory study object of the automatic control,which they all have a little difficulty to make.This paper describes the two- wheeled self-balancing robot which refits with the toy car bought from market.Under the control of the single chip microcontroller,the robot can achieve a continuous and stable upright balance.

关 键 词：两轮机器人 自平衡 倒立摆 dsPIC30F4011 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]