Research Of Two-wheeled Self-balanced Vehicle Based On Fuzzy Control

In this paper, two-wheeled self-balanced vehicle is arranged by two paralleled wheels and it is a kind of unstable nature wheeled mobile robot. It has the same characteristics with the traditional'inverted pendulum',which are non-linear, multi-variable, strong coupling and parameters of uncertainty. So it is necessary to need the effective means to keep its own balance, which make it to be an ideal platform to verify various kinds of control theory. Because of its simple mechanism structure, strong ability to adapt to changing terrain, flexible movement, it has wide applications in many areas.The main research contents of this paper are the following aspects:First of all, a two-wheeled self-balanced vehicle system is built, which mainly consists of mechanical and electrical system, software program. Mechanical and electrical system mainly includes the control system based on MSP430F149 microcontroller, the posture detection system comprised accelerometer and gyroscope, the brushless DC motor drive system. The software part is compiled with langue C in the IAR software platform, which mainly realizes the processing of the collected posture signal, the controlling of fuzzy algorithm and the driving of motor, etc.Then, according to the simplified model of two-wheeled self-balanced vehicle, we establish dynamics and kinematics mathematic model. Among establishing dynamics model, we analyses it by means of Newton mechanics equations and Lagrange's equation, and finally acquires the consistent dynamics model, so it ensures the correctness of the result. Then corresponding state-space equation is obtained through its linearization near the balance, which serves as the basis of research of vehicle's control strategy and algorithm.Finally, a fuzzy controller is designed by adopting the theory of fuzzy control for two-wheeled self-balanced vehicle. With ADAMS and MATLAB, we create a virtual fuzzy control system, discuss the co-simulation of two-wheeled self-balanced vehicle control system, and prove the reasonableness of fuzzy control algorithm.