Abstract: A novel design method of one-dimensional cloud controller based on single-chip microcomputer is proposed.The method is applied to implement the dynamic headstand balance control for wheeled robots.Features between cloud model controllers using three rules and five rules are compared.The experiments show that the proposed controller，which is close to the human behaviors with five rules，achieves good control performance and robustness in headstand state.It is helpful for the controller design using rules-based cloud model.

Key words: cloud model, cloud model controller, wheeled robot, Single-Chip Microcomputer（SCM）

摘要： 针对云模型理论的研究现状，提出了基于单片机一维云模型控制器的设计方法，应用该方法设计的云模型控制器成功地实现了对轮式机器人动态倒立的平衡控制，同时比较了三规则云模型控制器和五规则控制器对系统的性能影响。实验结果表明，该云模型控制器可以保证轮式机器人倒立平衡系统具有良好的控制性能和较强的抗干扰性，并证明拟合人类思维更好的五规则控制器具有更好的控制效果，为以后规则云模型控制器设计提供了参考。

关键词: 云模型, 云模型控制器, 轮式机器人, 单片机