The Design Of Two-Wheel Vehicle

With the development of the vehicle, the aspects of minitype, energy saving, environmental protection, and convenience are very important. So the research on two-wheel vehicle becomes the hotspot in the field of electrical vehicle. It depends on two paralled wheels to support the bodywork. The battery provides power, and the motors drive the vehicle moving. The microprocessor, sensor, software and machine of bodywork cooperate to control the system's balance. The drivers can operate the vehicle by changing their center of gravity. At the same time, the two-wheel vehicle is a special kind of wheeled mobile robot. The theory study of it has a very important meaning.The design of the two-wheel vehicle's emphases is the research on balance-control methods and their realization. It is the sticking point of integral system, and also is the guarantee of syetem's safety and credibility. Considering that the vehicle has the probability of collision with hamper in the process of running, this paper designs the balance controllers under the condition of the vehicle's normal performance and collision with hamper, also succeeds in switching between these two methods by judging the states of the scooter. The detail work includes: the establishment of the system's mathematical model; the design of balance controllers in two different circumstances, using PID control method and Bang-bang control method, and also resolve the problem of the vehicle's speed limit; under the help of MATLAB, the simulation of the system is accomplished, and the results prove legitimacy of the control methods; from the aspects of the realization of PMSM's control and the energy saving of the battery, the control method is analyzed, the relative expressions between the ampere and torque are deduced, and the parameters of PI controller are fixed on by simulation; the balance-control methods are realized by software, and the changes among different balance-control methods are also succeeded.In this paper, the design of two-wheel vehicle has three characteristics. The first one is that the vehicle'model contains the basic moving equation of the motor dragging system and takes the motor's electromagnetic torque as direct input variables. This facilitates the control of the motor. The second one is that two different circumstances are considered when the balance controllers are designed. The last one is that the control system can quickly react to the status of the vehicle by changing among the different controller, so that promotes the safety of the vehicle.