A Dual-Redundancy Thermal Backup Control Method for the Two-Wheeled Self-balancing Robot

Aiming at the static instability and vehicle body reliability of the two-wheeled self-balancing robot, this paper puts forward a dual-redundancy thermal backup control method of self-balancing robot based on robot steering sensor and gyroscope robot body attitude sensor. It presents the effective dual-redundancy control scheme, its fault detection and switching method on power supply system, master control logic, driver control, power circuit, and actuator.