两轮机器人以其结构简单、控制复杂、灵活性等特点,成为机器人研究中的一个重点研究课题.该文为了实现两轮机器人良好的平衡效果和运动性能,利用牛顿动力学建立了机器人各个子系统和整个系统的数学模型;采用集成了加速度计和陀螺仪的MPU6050模块采集机器人各轴加速度和转速,使用改进的卡尔曼算法将两者数据融合处理得到了精准度高的机器人倾角值;利用分解的思想将机器人控制细化为平衡控制、运动控制和差速控制,为每个控制环设计PID控制器.两轮机器人以树莓派为控制中心,在Codesys平台上完成软件开发.试验表明,该机器人有很好的平衡性能、抗干扰性强、运动性能.%Two-wheel robot with its simple structure,control complexity,flexibility and other characteristics,become a key issue in the study of robot.In order to realize good balance effect and sports performance of two-wheeled robot,a mathematical model of each subsystem and the whole system of the robot was established by Newton's dynamics.The MPU6050 module with accelerometer and gyroscope was used to collect the acceleration and speed of each axis of the robot,the Kalman algorithm is used to fuse the two data to get the robot tilt value with high accuracy.The robot control is decomposed into the balance control,the motion control and servo control,then design PID controller for each control loop.The robot uses Raspberry Pi as the control center,the software is completed on the Codesys platform.The experiments show that the robot has a good balance of performance,strong anti-interference and good move performance.
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