Control System Research Of Two-wheeled Uniaxial Electric Scooter

With two wheels distributed coaxially, Two-wheeled Uniaxial Electric Scooter is a kindof inverted pendulum system, which is driven independently by two motors and can keepbalanced automatically. As a manned and mobile tool, it is a high technology product thatsets mechanical design, dynamics modeling, control theory applications and computerprogramming as a whole. Meanwhile, it has a great amount of advantages, such as simplemechanism, little space taken, flexible(the minimum turning radius is zero), simpleoperation, energy conservation and environmental protection. Therefore, it has wideapplication prospect and great research significance.This paper is mainly supposed to finish the control system design for the Two-wheeledUniaxial Electric Scooter, including hardware design, dynamics modeling, controlalgorithm design and software design.Firstly, design the hardware of control system, choose the detail type for the SCM,gyroscope and accelerometer; design minimum system of SCM, angle sensor circuit, motordriver circuit, speed sensor circuit and rotational direction detection circuit; build bluetoothdata monitoring system, draw schematic diagram and PCB drawing.Secondly, carry on kinematics modeling separately for double wheels, vehicle body andthe whole vehicle so as to to calculate the relationship between different motionquantities.Then, build dynamics model using the Lagrange’s equations. Meanwhile considermoment of inertia of the motors and rotordissipated energy relating to frictionalforces.Finally, verify the correctness of the model by controllability and significant analysis.Thirdly, introduce the control principle and design process of LQR control, PID controland fuzzy adaptive PID control algorithm respectively. Then, carry on Simulink simulationand compare the control effect.It proves that fuzzy adaptive PID control algorithm is betterthan the other two control algorithmFinally, design the software of control system. Analyze the function and framework thesoftware and draw the program flow chart; design Kalman Filter to make data fusion for thegyroscope and accelerometer; write the whole control program and carry on real vehicle experiment to clarify effectiveness of the control system.