The Algorithm Of A Two-wheel Self-balancing Vehicle System

Two-wheel self-balancing vehicle is a new green personal transport which is driven by electric power and has a capacity of self-balancing,and has been used in lots kinds of large staffs.It will become a common short-distance personal transport.This paper analyzes the two-wheel self-balancing vehicle by using of mechanics, kinematics knowledge and modern control theory.First,I build the construction of the physical model of the vehicle, simplify the model,analyze the each part of the vehicle by using the knowledge of Dynamics, Kinematics, Dynamics.And next I establish and analyze physical equations, calculate balance equation of state of the vehicle, design the controlling project,identify the factors which control the balance of the vehicle balance by calculating and simulating, provide a reference for the balancing system’s controlling software design. Finally, we test and verify the validity and rationality of the algorithm by doing experiments.