Design And Research On Control System Of Two-wheeled Self-balancing Vehicle

Two-wheeled self-balancing electric vehicle as a transport, the design comes from the inverted pendulum, the system itself is an unstable body, need to exert control method to maintain the dynamic stability. It is different with the traditional means of transport, the vehicle is two side-by-side layout. Because of its highly intelligent, green environmental protection, covers an area of small, flexible, many large squares, airports, indoor venues, tourism and leisure district can see its shadow. In addition to the application in the transport field, in the field of robotics, the application of two-wheeled self-balancing robot value also greatly, the service-based two-wheeled self-balancing robot can be used for meals, clean health, the self-balancing robot can also be designed with mechanical arm for moving goods, the use of these can reflect the characteristics of the smart.Based on the research status of summarizing for the two-wheeled self-balancing vehicle, design and research the two-wheeled self-balancing vehicle from the attitude detection module, the processor module, motor drive module. Choosing the motion sensor MPU9150 completed posture detection and acquisition, the main controller is STM32 Series Microprocessor, choose a 250 W, 24 V DC brushless motor as power, design motor driver board, build two-wheeled self-balancing electric vehicle model. Writing attitude data processing program, balance control program, motor driver program, through the analysis of motion state, verify the feasibility of the control system is designed in this paper.According to the physical model of two-wheeled self-balancing vehicle, using dynamic method and Lagrange equation method to build the model of balance vehicle. Get the model equations of balance vehicle, and the control algorithm is designed according to the model, analysis the control effect through the MATLAB simulation, obtaining theoretical results. In the actual design process, the attitude detection is the foundation of the whole control system of two-wheeled self-balancing vehicle, in order to get a stable and reliable attitude information of the vehicle, use the complementary filter to process the data of gyroscopes and accelerometers. In motion control strategy, consider the system’s stability, rapidity and accuracy, select the classical PID controller, combined with bodywork attitude data, get PWM value to drive motor, realize dynamic balance of the two-wheeled self-balancing vehicle.Through the experimental design of the system, verify the stability and reliability of two-wheeled self-balancing vehicle system, provide some new ideas for the future research and design of two-wheeled self-balancing vehicle, and has certain innovation and application value.