A Research On The Modeling And Control Of The Two-wheeled Self-balancing Vehicle

the paper will introduce the principle of two wheeled self-balancing electric vehicle, then analyze the dynamics of two-wheeled self-balancing electric vehicle with the method of Kinetic to get its nonlinear equations of the model.Use two accelerometers and gyro inertial sensors, and then through the Kalman filter to obtain more accurate angle and angular velocity signals.Because of the uncertainty of the user and driving conditions, the controller parameters of the self-balancing two-wheeled electric vehicle systems will change. In order to better control the system, by comparing the current basis for its various control algorithms, the author focused on Han Jingqing’s ADRC(Active Disturbance Rejection Control) algorithm which is proposed based on ADRC two wheeled self-balancing electric vehicle algorithm adaptive control algorithm electric vehicles.Mainly using the ADRC algorithm to estimate the disturbances that can be estimated by the extended state observer affect the system to control the output, with estimates out of the total disturbance to compensate for the controller in order to make the effect of adaptive come true.As for the feedback forms, there are two feedback control gains needing LQR method to roughly determine its range, so the nonlinear equation of the state has to be linearized first, then to test the control system’s already-known parameters, with MABLAT appropriate feedback to simulation the size of the control gain.Finally, using the existing laboratory conditions, the author built a two-wheeled self-balancing electric vehicle test platform with corresponding hardware and software to achieve ADRC algorithm. Experimental results show that the system achieve good control effect, high reliability, flexibility, thus verifying the theoretical analysis and the feasibility of two-wheeled self-balancing electric vehicle design.