Research on Modeling and Control Algorithm of Self-Balancing Platform of Spraying Robot

Abstract

Abstract In order to improve the driving stability of the tracked vehicle robot with agricultural spray in mountainous complex terrain, an automatic leveling device of the medicine box was designed to adjust the center of gravity of the tracked vehicle during driving by controlling the sidle Angle of the tracked vehicle. Because in the spraying process, the liquid in the medicine box is constantly reduced, which produces a certain load disturbance to the control system. In this paper, an adaptive controller is designed based on the mathematical model of self-balancing platform. Experiments in Matlab/Simulink show that the control method can effectively control the system.