The Design Of The Self-balancing Two Wheeled Car Based On LQR

The aim of this paper is to design the two self-balancing wheeled car system. The car is a nonlinear, serious coupling, multivariable, natural unstable, specific, and complex but relatively inexpensive system with a great challenge to control, the typical model to test and verify all kinds of control priciples, the hotspots attached by scientists around the world and the challenging issues.The two self-balancing wheeled car is a new type electric vehicle systems with two wheels arranged in parallel and the angle detection sensors and gyroscopes, and the same time, can maintain their balance by the control principles.The simplified model of the car was built in this paper based on kinematics and Newtonian mechanics theory, verfied by the controllability and observability. Inder to compare and ansys the effects of the PID and LQR control priciples, the simulation using the Matlab-simulink softeware was conducted,and mean while,the paper have a collaborative simulation based on the dynamic software ADAMS and Matlab-simulink, and ultimately determine the choice of control priciple. Provided by theoretical simulation data, this paper carried out the design of hardware systems, including mechanical systems design and electrical system design. Finally, in the IAR software platform, the application of C language compiled the software system.Ultimately,the paper completes the two self-balancing car system and the Joint Commissioning between the hardware and software system, show that the system is reasonable and the desired effect of control requirements can be achieved.