Modeling and Simulation for Self-Balance System

Self-balance system is a kind of special wheeled mobile robots, a typical device used to test control methods. In this paper, based on mechanical analysis, linear and nonlinear models of self-balance system were established. Controllers were designed, including pole-placement and lqr controller, according to linear system theory. By using control and simulation tool box of LabVIEW, pole-placement and lqr controllers were separately used to control the nonlinear model of self-balance system, in the position of near zero angle, getting relative control ranges. Finally, experiment is designed to simulate the input of two controllers. Simulation results show that the control range of pole-placement controller to nonlinear model is ±0.22 radian, with a small controller input while the lqr controller has a wider range of even greater than 1.57radian but larger controller input. Therefore, lqr controller has high requirement to motive power part of hardware system and high cost.