Research on Cubic Robot Self -balance System Based on Optimized PID Control

Based on optimized PID for a cubic robot slope self balancing system with edges as the fulcrum, a control method is proposed. Firstly, based on an internally integrated momentum wheel cubic robot designed independently, a dynamic model of the cubic robot on a slope was established using the Lagrange equation, proving that it is an unstable system near the equilibrium point and has controllability and observability. Secondly, a control system based on optimized PID was designed to achieve slope self-balance control of the cubic robot. Finally, the simulation and experimental results demonstrate the effectiveness of the system designed in this paper.