Fuzzy Control Research And Its Application In Two-wheel Self-balanced Vehicle

With the quickly development of fuzzy control theory, the fuzzy controller is favored by scientists.Control method based on fuzzy control rules make it needn’t to consider the precise mathematical modeland the complexity of the object. Fuzzy control can solve the problems which many conventional controlmethods difficult to deal with. At the same time, fuzzy controller’s performance superiority and moreconvenient to implement, so has been widely used.The fulcrum of inverted pendulum system is below the center of gravity. The characteristics withmulti-variable, strong coupling, nonlinear and naturally unstable have become the focus of the scholar’sresearch. Its complex and rich dynamics behavior can reflect many key problems effectively during thecontrol process, such as stabilization problem, robustness problem, etc. The inverted pendulum system cantest the effectiveness of various control theory and control algorithm effectively, the results have guidingsignificance to the actual control system.The purpose of this article is to develop and design superior performance fuzzy controller, and apply itto the actual control area. The Newtonian method is adopted to establish the mathematical model of singleinverted pendulum, then we propose a fuzzy controller based on the single input rule(SIRMs) dynamicweighted in this paper, which can realized stability control of the single inverted pendulum system. Finallythe fuzzy controller is applied to two-wheeled self-balancing vehicle’s motion control, and has achievedgood control effect. The main research content includes the following several aspects:Firstly, we discuss the origin and development of fuzzy control, and then introduce the principle offuzzy control. Secondly, the mathematical model of single inverted pendulum is established, the stability,controllability and observability are analyzed. Then verify the validity of the model which established byusing SimMechanics toolbox. Thirdly, we research and design three fuzzy controller are series fuzzycontroller, parallel fuzzy controller and SIRMs dynamic weighted fuzzy controller in this paper. The realtime control experiment results show that the SIRMs dynamic weighted fuzzy controller can restrain thesystem input disturbance effectively, have good dynamic performance and static performance and strongrobustness. Finally, in order to verify the practicability of the SIRMs dynamic weighted fuzzy controller,apply the controller in the control of two-wheeled self-balancing vehicle, the results show that the fuzzycontroller can achieve the vehicle movement control successfully, and the tracking speed is fast.