Journal of the Institute of Electronics and Information Engineers (전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Design of Balancing Robot Controller using Optimal Control Method

최적제어 기법을 이용한 밸런싱 로봇 제어기의 설계

  • Yeo, Hee-Joo (Department of Electronics Eng., Daejin University) ;
  • Park, Hun (Department of Electronics Eng., Daejin University)
  • 여희주 (대진대학교 전자공학과) ;
  • 박훈 (대진대학교 전자공학과)
  • Received : 2014.01.09
  • Published : 2014.02.25
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Abstract

In this paper, we get state equations based on wheel's rotation, tilt and steering are independent each other in balancing robot. Accordingly, we propose two LQR controllers which are appropriate for rotation and steering control of a balancing robot. And its superiority and appropriateness are demonstrated by a comparison to a PID method. Simulation results verify the possibility of upright balancing, rectilinear motion and position control. Moreover, experimental results show that it guarantees the performance to apply the two LQR controllers to balance the robot.

본 논문에서는 밸런싱 로봇의 동역학적 모델의 해석으로부터 기울기와 조향이 독립되어 있어 서로 영향을 받지 않는 것을 증명하고, 다변수 시스템에 적합한 제어기로써 두 개의 최적 LQR 제어기 구조를 갖는 제어시스템을 제안하였다. 또한 제안한 제어시스템의 성능을 입증하기 위하여 밸런싱 로봇의 자세제어에 적용하여 모의실험과 실험을 수행하였고, PID 제어기와의 비교평가를 통하여 그 우수성을 검증하였다.

Keywords

References

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