MFAC Based Control System Design For Electric Standing Scooter

The rapid growth of urban motor vehicles has led to growing traffic congestion, making the vehicle can not fully play the role; the other hand, many large stadiums and other infrastructure can not find a suitable means of transport, bring a lot of inconvenience. However, a new means of erect transport-Electric Standing Scooter, with its compact, convenient, adapting to a variety of urban traffic environment and other characteristics, brings the hope of solving the problems above.Electric Standing Scooter is a kind of upright vertical driven by electric power with structure of single-axle-double-wheels and dynamic stability based on self-balance. The central processor acquires the attitude information via its delicate solid-state gyroscope and controls its motor for driving vehicle tires to balance the torque and move along the tilt direction. The model of Electric Standing Scooter is consistent with linear inverted pendulum, and there are many effective control methods are applied in the latter.This paper aimed to apply model free adaptive control method to Electric Standing Scooter control, analyze the advantages of the control scheme and verify the validity with inverted pendulum model and inverted pendulum instrument. Model-free adaptive control is a controller design method without mathematical models and other related prior knowledge of the controlled system but system I/O data, and it has many advantages such as less of estimated parameters online, simple to design and easy to implement. Model-free adaptive control has good performance for strong nonlinear systems and strong coupling systems which are difficult to model. The control methods depending on system model are difficult to do this.Application of MFAC methods for controller design has no need of mathematical model of the controlled system, but in order to carry out simulation, this paper obtained the model for simulation studies by analyzing and modeling Electric Standing Scooter, with parameters of the inverted pendulum. After that, this paper applied PID control scheme and MFAC external-loop based PID control scheme to the simulation study and inverted pendulum instrument experiment, and found the conclusion that MFAC external-loop can improve the control performance of PID control system used in Electric Standing Scooter control.