| The two-wheeled self-balancing vehicle is a typical complex system with multi-variable, nonlinear and strong coupling, parameter uncertainty and so on,but its structure is not very complicated.The environment in which the vehicle moves is complicated, so is the control task that needs to finish balancing, path-planning and path-tracking at the same time. Therefore, the two-wheeled vehicle is an ideal platform for testing and learning various control methods. The sliding mode of VSC (Variable Structure Control) has strong robustness, so it is applied to the two-wheeled self-balancing vehicle would be a great advantage. This paper designs variable structure controllers of continuous and discrete time system for the two-wheeled self-balancing vehicle emphatically, and then discusses the effect in the different sampling period, all of these provide a reference for implemention of computer control.The specific work is mainly as follows: First, through analyzing and studying the composition of the two-wheeled self-balancing vehicle from the domestic and foreign, the hardware and software of the two-wheeled self-balanced vehicle is designed, the suggestions are put forward about the two-wheeled self-balancing vehicle's mechanical structure and hardware, so as to tap the vehicle's potential as a control theory testing platform. Second, this paper designs the switching function based on LQR, and the variable structure controllers of the continuous and discrete time system for two-wheeled self-balancing vehicle. Third, the quasi sliding mode method is adopted in continuous variable structure controller in order to reduce buffeting, and an improved the exponential reaching law is used in the discrete variable structure controller. Fourth, this paper studies the response of the system with the change of sampling period, then provided the basis of the sampling period selection for the computer control. |
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