Modeling of the Two-Wheeled Self-Balancing Robot system

1. Parameter and symbols in the Two-Wheeled Self-Balancing Robot system

The meanings of parameters and symbols of the Two-Wheeled Self-Balancing Robot are
given in Table 1.
NOMENCALUTURES

Sign Meaning Unit

m Mass of the wheel kg
M Mass of the robot kg
R Radius of the wheel m
W Width of the robot m
D Length of the robot m
H Height of the robot m
L Distance from the center of robot to wheel axle m
fw Coefficient of friction between the wheel and the
moving plane
fm Coefficient of friction between the robot and the
DC engine
Jm Moment of inertia of the DC engine kg m
2

Rm Resistor of the DC engine Ohm

Kb The EMF coefficient of the engine Vs/rad
Kt Torque of the engine Nm/A
n Deceleration ratio
g Gravity acceleration m/ s2
θ Average angle of 2 wheels rad
θl , r Angle of left wheel, right wheel rad
ψ Tilt of the body of the robot rad
ϕ Rotation angle of the robot rad
xl , yl , zl Coordinates of the left wheel m
 xr , yr , zr Coordinates of the right wheel m
xm , ym, zm Average coordinates m
Fθ, Fψ , Fϕ Starting torque in different directions Nm
F l ,r Starting torque of the left wheel and right wheel Nm
engine
i l ,i r Amperage of the left wheel and right wheel engine A
vl , vr Voltage of the left wheel and right wheel engine V

Table 1. The parameters of the Two-Wheeled Self-Balancing robot

2. Mathetical model of the Two-Wheeled Self-Balancing Robot

Figure 1. The mathetical model of the Two-Wheeled Self-Balancing robot

The mathetical model of the Two-Wheeled Self-Balancing robot is depicted in the Figure 1.
As can be seen from this figure, the robot model system is described in terms of two types of
coordinate systems: the Oxy coordinate system and the coordinate system on the Oz axis.
Considered at t = 0, the robot moved forward, we have the equations:
The average displacement of the two wheels and the rotation angle of the robot:

{
1
θ= (θl +θ r)
2
(1)
R
ϕ= (θl−θ r )
W
 The coordinates of the mean position of the robot in the frame of reference are:

{
x m=∫ ẋ m
y m=∫ ẏ m (2)
z m=R

And

{ ẋ m=R θ̇ cosϕ
ẏ m =R θ̇ sinϕ
(3)

The mean position of the left wheel in the frame of reference:

{
W
xl =x m− cosϕ
2
W (4)
y l= y m + sinϕ
2
zl =z m

Similarly, we have the mean position of the left wheel in the frame of reference:

{
W
x r=x m + cosϕ
2
W (5)
y r= y m− sinϕ
2
z r=z m

The coordinates of the center of symmetry between the two engines in the frame of
reference:

{
x b=x m + Lsinψcosϕ
y b= y m + Lsinψsinϕ (6)
z b=z m + Lcosψ

To build a system of dynamic equations describing the motion of the robot, we will use the
kinetic energy theorem for the motion of a solid, combined with the Lagrange equation and the
torque-force equations of the DC motor.

2.1 Kinetic energy and potential energy of translational motion and rotation motion

For the equation of kinetic energy of translational motion, we have:

1 1 1
T 1= m ( ẋl + ẏ l + ż l ) + m ( ẋ r + ẏ r + ż r ) + m ( ẋ b + ẏ b + ż b )
2 2 2 2 2 2 2 2 2
(7)
2 2 2
 For the equation of kinetic energy of rotation motion, we have:
1 2 1 2 1 2 1 2 1 2 2 1 2 2
T 2= J w θ̇ l + J w θ̇r + J ψ ψ̇ + J ϕ ϕ̇ + n J m ( θ̇ l−ψ̇ ) + n J m ( θ̇ r−ψ̇ ) (8)
2 2 2 2 2 2

Where:
1 2 2 1 2 2
n J m ( θ̇l −ψ̇) , n J m ( θ̇ r−ψ̇ )
2 2

Are the kinetic energy of rotation motion caused by the left wheel and right wheel engine.

The potential energy equation of the system is:

U =mg z l +mg z r +mg z b (9)

From the kinetic and potential energy equations of the system, using the Lagrange
equation, we have:
L=T 1 +T 2−U (10)

Derivative L with respect to the variables θ, ψ, ϕ, we have the equations:

( )
d ∂L ∂L
dx ∂ θ̇
− =F θ (11)
∂θ

( )
d ∂L ∂L
−
dx ∂ ψ̇ ∂ ψ
=F ψ (12)

( )
d ∂L ∂L
− =F ϕ (13)
dx ∂ ϕ̇ ∂ ϕ
Substituting the values T 1 , T 2 , U and the coordinate equations above into the equations
(11), (12), (13), we have:

[ ( 2 m+ M ) R2 +2 J w +2 n2 J m ] θ̈ +( MLRcosψ −2 n2 J m ) ψ̈ −MLR ψ̇ 2 sinψ=F θ (14)

( MLRcosψ −2 n2 J m ) θ̈+ ( M L2+ J ψ +2 n2 J m ) ψ̈−MgLsinψ−M L2 ϕ̇2 sinψcosψ =Fψ (15)

[ 1
2
W2
]
mW 2 + J ϕ + 2 ( J w +n2 J m ) + M L2 sin2 ψ ϕ̈ 2+ 2 M L2 ψ̇ ϕ̇ sinψcosψ=F ϕ
2R
(16)

2.2 The moments caused by DC engine

Consider the force of the engine acting on left wheel and right wheel, we have the equations:
 F l=n K t i l +f m ( ψ̇ −θ̇l ) −f w θ̇l (17)

F r=n K t i r + f m ( ψ̇−θ̇ r ) −f w θ̇r (18)

Torque caused by engine acting on the robot and make the body of the robot can rotate the
ψ tilt angle is:

F ψ=−n K t i l−n K t i r−f m ( ψ̇−θ̇ l )−f m ( ψ̇−θ̇ r ) (19)

Assuming the armature inductance is very small, can be ignored (close to zero), we have
the EMF of the motor is:

v l ,r + K b ( ψ̇ −θ̇l ,r )−R m i l ,r =0

v l , r + K b ( ψ̇−θ̇ l ,r )
⇨ i l ,r = (20)
Rm

Consider the torque caused by the enging acting on the θ rotation angle:

F θ=Fl + F r
¿ α ( v l + v r )−2 ( β + f w ) θ̇ +2 β ψ̇ (21 )

Consider the torque caused by the enging acting on the ϕ rotation angle:
W
F ϕ= (F −F r )
2R l
2
W W
¿ α ( v l+ v r ) − 2 (β +f m) ϕ̇ (22)
2R 2R

Where:
n Kt n Kt K b
α= ; β= +f m
Rm Rm

⇨ The equation (19) are rewrited into:

F ψ=−α ( v l+ v r ) + 2 β θ̇−2 β ψ̇ (23)

From all the equations analyzed above, we have the dynamic equation describing the motion
of the system:

[ ( 2 m+ M ) R2 +2 J w +2 n2 J m ] θ̈ +( MLRcosψ −2 n2 J m ) ψ̈ −MLR ψ̇ 2 sinψ=α ( v l +v r )−2 ( β +f w ) θ̇ +2 β ψ̇

( MLRcosψ −2 n2 J m ) θ̈+ ( M L2+ J ψ +2 n2 J m ) ψ̈−MgLsinψ−M L2 ϕ̇2 sinψcosψ =−α ( v l +v r ) +2 β θ̇−2 β
[ ]
2 2
1 W W W
mW + J ϕ + 2 ( J w +n J m ) + M L sin ψ ϕ̈ + 2 M L ψ̇ ϕ̇ sinψcosψ=
2 2 2 2 2 2
α ( v l +v r )− 2 (β + f m) ϕ̇
2 2R 2R 2R