CAJ | 학술논문

针对两轮自平衡机器人的平衡控制问题，基于LEGO机器人构建两轮自平衡机器人本体，采用光电传感器作为倾角检测元件，替代传统的倾角传感器和陀螺仪，以降低成本且避免倾角传感器和陀螺仪的温度漂移。给出了该机器人的本体构成，根据Euler-Lagrange方法建立系统的数学模型，采用最优控制实现机器人的平衡控制。最后进行物理实验，实现了机器人的自平衡，效果比较好，具备一定的抗干扰能力，证明基于光电传感器的两轮自平衡机器人的控制是合理有效的。
침대량륜자평형궤기인적평형공제문제，기우LEGO궤기인구건량륜자평형궤기인본체，채용광전전감기작위경각검측원건，체대전통적경각전감기화타라의，이강저성본차피면경각전감기화타라의적온도표이。급출료해궤기인적본체구성，근거Euler-Lagrange방법건립계통적수학모형，채용최우공제실현궤기인적평형공제。최후진행물리실험，실현료궤기인적자평형，효과비교호，구비일정적항간우능력，증명기우광전전감기적량륜자평형궤기인적공제시합리유효적。
The two-wheeled self-balancing robot’s body was built based on LEGO robotics for balance control problems of self-balancing robot.Photoelectric sensor was adopted as the inclination sensing element,instead of the traditional inclination sensors and gyroscopes,to reduce costs and avoid the temperature drift.The body composition of this robot was given and the mathematical model of the system was established based on Euler-Lagrange method.Meanwhile,optimal control theory was used to achieve balance of the robot.Finally,the physical experiments results show that the robot has good self-balance ability and a certain anti-jamming capability. It is proved that the two-wheeled self-balancing robot’s control method based on photoelectric sensor is reasonable and effective.