Research On The System Of Sitting Two-wheeled Self-balancing Vehicle

The two-wheeled self-balancing electric vehicle has many kinds of advantages, such asflexible movement, intelligent control system, simple operation, energy saving,environmental protection, and0degree turning radius, etc. So it can appliy to run in the smallspace, such as the large shopping malls, international conference or exhibition venues,stadiums, office buildings, large parks, eco-tourism scenic spot, the city’s quarters and otherliving room or outdooroccasions, as one of the means of short-distance transport. As thetwo-wheeled self-balancing vehicle is, in theory, a non-holonomic system, the carrier is notthe same either. So it is a nonlinear system from the perspective of control theory withvariable load, and has high value of research and application of the theory. The two-wheeledself-balancing vehicle is a hot-spot recently.Firstly, this paper details the system components of two-wheeled self-balancing vehicle,designs the mechanical system of two-wheeled self-balancing vehicle, analyses the designelements, highlights the control system hardware design, introduces each part one by one.Then design the critical part of two-wheeled self-balancing vehicle-motor drive system.Through the analysis of the principles, determine the system’s design, chooses the controllercircuit. The motor speed and commutation system is made up of CPLD and STM32. Provethe reliability and rationality through simulation and actual operation. Design the powersupply circuit design and AD sampling circuit interface design,and verify its legitimacy.Taking into account the serial port which this design use a lot, also design a separate serialmodule and verify its rationality. Taking into account the need of maintaining distancebetween vehicles reversing to ensure personal safety, so design the ultrasonic range finderdesign and verify its rationality. Finally, taking into account the directional control,design thesteering wheel circuit and verify its rationality.Two-wheeled self-balancing vehicle controls the state of the body by the size of body tiltangle, the paper’s third part will design the body inclination angle measurement system. Forthe drawback of low precision and drift of the MEMS gyroscopes and accelerometers,useKalman filter for the information fusion of MEMS inertial sensor to achieve accurate anglemeasurement.Finally, research on the control algorithm of two-wheeled self-balancing vehicle. According to the model simplified and inverted pendulum model as a reference, achieve thebalance of the two-wheeled self-balancing vehicle, horizontal acceleration and body positionby the digital PID controller.Then prove the reliability and rationality of the algorithmthrough actual operation.