Matlab/Simulink를 이용한 이륜 자율 균형 로봇의 3D 모델링과 제어 = 3D Modeling and Control for Two-Wheeled Self-Balancing Robots Using Matlab/Simulink

다국어 초록 (Multilingual Abstract)

The two-wheeled self-balancing robot (TWSBR) based on an inverted pendulum is an attractive research topic that requires not only maneuvering but also postural balancing control. As TWSBRs have secured platforms with flexible movement and ease of operation, they have been rapidly spreading in everyday life rather than industrial sites. Meanwhile, 3D CAD design and analysis tools enable designers and engineers to realize innovative products while they reduce development time and costs.
In this paper, we designed the components of TWSBR in 3D using SOLIDWORKS and assembled a 3D model of TWSBR using function blocks in Simscape. In addition, we derived a linearization model of TWSBR at the upright balancing position and designed an LQR controller for this model. Through the integrated simulation and animation environment in Matlab/Simulink using the 3D model of TWSBR, we presented that the LQR controller can effectively perform upright-balancing and maneuvering control.

참고문헌 (Reference)

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