Unicycle Self-balanced Car Designed Studies

Single wheel self-balance car is a wheeled mobile robot of simple structure, similar to the inverted pendulum, formed by a body and a motor driven wheel. The baffle plate on the upper half of the body can rotate in the horizontal direction. Through the baffle's rotation, the body's center of gravity can be changed, in order to control the direction of the movement. Compared with other means of transport, the number of contact points between the single wheel self-balance car and the ground reaches minimum. It is a typical nonlinear, incomplete, static unbalance system. It has many advantages such as flexible motion, simple structure, suitable for working in narrow and dangerous space and so on. In the military, civil, teaching areas, it has a certain application prospect.The dissertation summaries the domestic and foreign research status of self-balance electric vehicle and puts forward the design scheme of the single wheel self-balance car combining the single wheeled car's design experience. First of all, through the study on the basic model of inverted pendulum system, the dissertation establishes the single wheel self-balance car's model, analyzes the interaction among its force, structure and movement and provides theoretical basis of controlling. And then the dissertation analyzes and compares the control system of self-balance car which is developed by domestic and foreign research institutions and enterprises, designs the single wheel self-balance car's control system and the preliminary layout and wiring. On the foundation of self-balancing mobile robot research, the researcher joins the gyroscope and motor driver. Subsequently, using Kalman filtering algorithms fuses accelerometer and gyroscope data information, improves the calculation speed and precision of car body tilting angle. Meanwhile, using C language designs photoelectric encoder counter module, which provides speed information for the system. Also, the researcher designs a digital double-loop PID control algorithm and has successfully realized the control of the self-balance car by using it. Finally, in the design and debugging of hardware and software system of the car, through the infrared remote control can be realized, the hover car forward, backward and PID adjustment.