DSP-Based Control of Two-Wheeled Inverted Pendulum

• Main Authors: Yang, Cho-Han, 楊卓翰
• Other Authors: Wu, Jenq-Lang
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/b2wg9p

碩士 === 國立臺灣海洋大學 === 電機工程學系 === 102 === This thesis considers the design of DSP28335-based balance controllers for a two-wheeled inverted pendulum control system. The design goal is to maintain balance of the two-wheeled inverted pendulum. A gyroscope is used to measure the angular velocity of the car body. Then, the angular of the car body can be derived by integrating the obtained angular velocity. Moreover, a motor encoder is utilized to measure the position of the car body. And then the velocity of the car body can be derived by the obtained position information. Finally, an infrared ray sensor is applied for correcting the angular deviation. We design PID, pole placement, and sliding mode controllers for the two-wheeled inverted pendulum to achieve the desired performance. Experiment results show that the sliding mode controller provides a better performance in our two-wheeled inverted pendulum control system than the other two control laws.