322 Model and Simulation of Two-Wheeled Self-Balance Robot

Since the Two-wheeled Self-balance Robot is a nonlinear, strong coupling, multi-variables and unstable system, the relevant results on the control strategy of which could apply to other similar systems, it is of great theoretical significance. By using dynamics mechanics theory and method, the mechanics principle of two-wheel self-balance Robot can be analyzed and the system mathematical model can be established. According to the established model, the stability, controllability and observability are discussed, the relevant conclusions are reached. Base on the mathematical model of the Two-Wheeled Self-balancing Robot, the double loop PID controller and the LQR controller are used to deal with the system. The expected balancing result was got after the simulations were made by simulink. Simulation results show that the control strategy proposed in this paper is correct and effective.