Research On March Control Technology Of Self-balancing Two-wheeled Electrical Vehicle

Self-balancing two-wheeled electrical vehicle (SBTWEV) uses clean electricityas power. It has small figure, which makes it easy to turn. As a kind of solution forthe problem of automobile exhaustion pollution and traffic jam, it meetsrequirements of modern social development. With the characteristic of nonlinearity,under-actuation, strong coupling and instability, SBTWEV is an ideal experimentalplatform which is used to study control strategy. So the research on the motioncontrol of SBTWEV has important theoretical research value and practicalsignificance.Applying Newton’s theory of classical mechanics, this paper establishes theaccurate mathematical model of SBTWEV, and it linearizes the accuratemathematical model near the equilibrium point of the system in order to facilitatethe design of the control system. Simulation results verify the correctness of themathematical model. By adding in a decoupling unit, the system is decoupled, whichmakes the model more simplified, and it is convenient for the design of controller.In order to deepen the understanding of the system, the controllability, theobservability, the maximum uphill angle, the controllable angle of the system isanalyzed, and some important conclusions are drew for the design of the system. Astate feedback controller is designed, and the results of the simulation experimentshows that it realizes the balance and speed control of the system. The feature ofparameter uncertainty requires more robustness of the controller, then the slidingmode variable structure control strategy is proposed, and its effectiveness is provedthrough the simulation experiments. However, the sliding mode variablestructure control causes the buffeting vibration, so the quasi sliding mode is appliedin the controller in order to weaken the system buffeting. Three control methods arecompared through the simulation experiment, results indicate that the quasi-slidingmode control eliminates the system chattering and has strong robustness, and that itsoverall performance is best.Based on the above theory, the hardware of SBTWEV is designed. It is mainlycomposed of controller, tilt angle detection mechanism, actuator, manipulate device,wireless transmitter and receiver, and power supply device. The programs ofcontroller, wireless transmitter and receiver are designed. In the end, some physicalexperiments are done, and results show that the designed controller is effective.