Research On Key Technologies Of Two-wheeled Self-balancing Electric Vehicle

Two-wheeled self-balancing electric vehicle is a new type of transport, and it is not like an electric bicycle and motorcycle whose wheels fixed in the front and rear, instead of using the way fixed side by side, so this structure will bring a new driving feelings. It depends on two parallel wheels to support the bodywork. The battery provides power, and two brushless DC motors drive the vehicle moving. The multi-processor, attitude sensing system, control algorithm and machine of the bodywork cooperate to control the system's balance. The drivers can operate the vehicle by changing their center of gravity to achieve the vehicle start, acceleration, deceleration, stop and other activities.In this dissertation, home and abroad, the current developing status of two-wheeled self-balancing electric vehicle has been summarized and proposed the key technical issues which two-wheeled self-balancing electric vehicle involved in the design process. In this dissertation, two-wheeled self-balancing electric vehicle as the research object, its design method has been introduced in detail.The traditional vertical two-wheeled self-balancing electric vehicles have some safety and comfort deficiencies, so a new type of mechanical structure which will make the vehicles more secure and reduce the drivers'fatigue after their long-term driving has been designed. Two-wheeled self-balancing electric vehicle works with multi-processor hardware model, through design and debugging, it has been met the control requirements. In order to determine the electric vehicle's motion attitude, with silicon micro-gyroscopes and accelerometers, attitude sensing sensor system has been designed. According to the sensor error model, this dissertation put forward a method of Kalman filter optimal estimation of the electric vehicle body posture, which could improve the vehicle's control precision. Two-wheeled self-balancing electric vehicle means that all movements are to balance control as a precondition. Balance control is the key of its movement. This paper has established the dynamics model of two-wheeled self-balancing electric vehicle with the Lagrange equations, and on this basis self-balancing controller is designed based on linear quadratic optimal regulator (LQR), in order to achieve balance control of the vehicle. For quick response and multi-task characteristics of the control system, control system software has been designed based onμC/OS-II operating system, which make the real-time system greatly enhanced.