The Control Method Research Of Vertical Two-wheel Self-balancing Moving Vehicle

This paper aims to study the vertical wheel self balanced vehicle control problem, two wheeled self balanced vehicle system is a multi variable, strong coupling, highly unstable, nonlinear theoretical model of classical control, experimental device is testing various control algorithm, At home and abroad in this field of research has important significance, both for industrial control or military field study of self balanced vehicle plays a pivotal role. Therefore, the study of self balanced vehicle has very important theoretical research value; Also today since the balance of the car has been developed as a transportation tool, this way of transportation is more green environmental protection, energy saving and convenient, gradually become park and golf course indispensable means of transportation, so it has more practical value. The main work has the following several aspects:First of all, according to the requirements of two-wheel self-balancing car hardware system design, the design is divided into two parts, mechanical parts and control system the main controller is studied, and its detection sensor and motor drive module, such as the working principle and performance.Secondly, according to the kinematics and Newton’s classical mechanics method to analyze the car system to establish a two-wheeled self-balancing car mathematical models of kinematics and dynamics, and the stability, controllability, can view of the car system is analyzed, the balance of the car system is an unstable system, but you can join the corresponding control method to control to achieve the balance of the car and stable operation.Again, on the basis of the established model, the small car choice has become the key of system control method. Compared to the classical control theory, this paper choose the more suitable for the linear quadratic optimal control(LQR) control method to the balance control of car, the LQR state feedback controller is designed, and aiming at the existing problem of LQR method is presented based on the weighted matrix of the optimal LQR control method of stability and LQR method based on genetic algorithm, through these two kinds of optimization algorithm optimize the conventional LQR control method.Finally, based on the study of the theory of the early work, using the MATLAB software simulation experiment was carried out on the research of the method of control. Through the comparison of simulation results can be concluded that the LQR control method for the car since the balance control of the basic meet the requirements of performance indicators, has good control effect, and through the weighted matrix of the optimal method of stability and LQR method based on genetic algorithm to improve control can better realize the balance control of the car, to achieve the rapid and stable operation.