This method has better control effect by simulation tests and comparison. The Dynamics Model of the Two-Wheeled Self-Balancing Robot The two-wheeled and self-balancing robot structure is mainly composed of the body and the two wheels, and the robot is the coaxial two wheels, driven by the independent motor the parameters of quality, moment of inertia, and radius of the two wheels are regarded as the same, so the body center of gravity is inverted above the axletree and it keeps balance through sports. The two-wheeled and self-balancing robot can be regarded as the vehicle-mounted inverted pendulum, so the dynamic system analysis process is more complex. This paper separates the wheel from the pendulum analysis first in the process of modeling, and then it deduces the dynamics state equation of the two-wheeled self-balancing robot through the simultaneous two parts. The two wheels are regarded as the research object, Figure 1 is a diagram revolver force analysis. The sum of the torques of the car body mass center is as follows: Using Newton’s second law, the force of the vertical direction of the car body is as follows: According to the revolver force equation can be obtained in the following according to the Newton’s law and the rotational torque formula :Īmong them, is the displacement of the car body centre of gravity relative to the ground,
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