Study On Optimization Of Motion Control Based On Manned Self-balancing Vehicle

Manned self-balancing vehicle is kind of new green vehicle which powered by electricity and able to keep automatic balance.It breaks through the traditional concept of the car,and changes static stability of car to erratic.So the main force of next generation of short-distance personal transport will turn to manned self-balancing vehicle which has lots of excellent characteristics such as automatic balance,portable,energy saving and emission reduction,wide application scenes etc.In recent years,with the continuous expansion of the manned self-balancing vehicle market and the deepening of research,the task that how to improve the balance and broad the application scenes of manned self-balancing vehicle,how flexible and effective implementation of the mandate in the surrounding environment is becoming more and more complex.Currently,how to solve these problems which people concerned,is the key point of intelligent self-balancing vehicle systems research.This paper is mainly designed a two-wheeled self-balancing vehicle and optimized the motion control after research this market deeply.Finished the design is not only realizes the basic improvement which changes static stability of car to erratic,but also constructs a system which can detect environment message,make decision self-propelled and execute the task.Compared to other self-balancing vehicle,the vehicle which this paper designed adds security system of intelligent speech feedback and reduces the production cost.In addition,this self-balancing vehicle has a better potential of in-depth study.This paper is mainly on designing a two-wheeled self-balancing vehicle by applying some relevant theories,for example automatic control theory,dynamics theory,mechanics,electronics technology,software technology and so on.The main work is as follows:1.Design a platform to research the self-balancing vehicle and according to the basic framework of the design,find and build hardware module circuitry,including power circuit,motor-drive circuit,speed feedback circuit,voltage and current detection circuit etc.2.Devise a software control scheme based on the existing platform and control circuit;3.Optimize the motion control of self-balancing vehicle,including design vertical PD controller,speed PI controller and turn PD controller etc;4.Add security system of intelligent speech feedback to improve practicality and safety of the self-balancing vehicle;5.Finish the actual manned test,system self-balance test after assemble the vehicle.Summary,the paper puts forward a feasible self-balancing research scheme and produce the two-wheel self-balancing vehicle.