The design of control system for two-wheel mobile platform

This paper describes some main design methods of the control system of the self-balancing two-wheel mobile platform based on a CompactRIO embedded controller, two digital DC servo motors with two odometry encoders, a Gyro sensor Mini-AHRS and other devices. And we use fuzzy controller to control this mobile platform. Through several experiments of self-balancing, linear running, it was confirmed that the mobile platform could realize stable mobile motion in a flat surface environment by the fuzzy controller. Using these methods, we have designed a two-wheel mobile platform to keep itself balancing in order to carry something from someplace to another in the future. An autonomous two-wheel mobile platform of this kind can only be obtained by the successful integration of mechanical hardware, electrical components and control software. The two-wheel mobile platform has been manufactured successfully by CIMS & Robotics Center of Shanghai University. The self-balancing control software and the relevant basic software have been developed.