Inclined Plane Modeling And Balance Control Of The Two-wheeled Self-balancing Vehicle

The research object of this paper is the walking mechanism of the self-balance two wheeled vehicle, symmetrical distribution by two DC servo motors separately driving around the wheel walking, has the characteristic of high-order, unstable, multivariable, nonlinear, such as inverted pendulum and its control of difficulty in walking balance control.It is an ideal platform to verify all kinds of algorithms, and it has the characteristics of flexible motion and simple structure, which can be used in the field of traffic and transportation. When the system is walking on the slope, it becomes more complicated because of the influence of gravity. Walking mechanism through the constant change in the angle of the pendulum rod to accelerate or slow down so that the vehicle body to maintain a balanced state.In this paper, we mainly study the walking balance control technology of the mechanism. Research content and research results are as follows:(1) Using Lagrange equation, we can established two wheel balancing walking mechanism in the slope dynamic model. This model is nonlinear and strong coupling characteristic, and get a certain range of model of linear mathematical model of the control system of linear.(2) By means of linear quadratic LQR method, the linear quadratic optimal controller is designed, and the simulation is carried out. This method can make the balance of the vehicle achieve stable balance.(3) We can select weighting matrices by the pole placement method.And combining the linear quadratic LQR method,we can obtaine optimal pole assignment method to self-balance vehicle.in the end we can get a state feedback controller by this mean. Simulation results show that this method can adjust the stable equilibrium of the self balancing vehicle, and reduce the time of the system to reach the steady state.(4) In the end, by comparing the two methods, the optimal pole assignment method is better than the other.