Research On Motion Control Technology Of Two-Wheeled Selfbalancing Electrical Vehicle

With the rapid development of autoindustrie, the quantity of automobile per capita raises steadily. The existing conditions of energy, transportation and environment couldn't continue to support. Under this background, the concept of TWSBEV (two-wheeled self balancing electrical vehicle) emerged. It is a kind of clean and small urban electrical auxiliary vehicle, which can solve the problem caused by traditional automobile.Since the TWSBEV is a nonlinear, strong coupling, underactuated and unstable system, the relevant results on the control strategy of which could apply to other similar systems, it is of great theoretical significance.Firstly, based on the combination of analytic mechanics and classical mechanics, the rigid model and flexible model of the system are built. Then the correctness of the models are validated in MATLAB.Then according to the established model, the controllability and observability, the turning inertia force, the maximum slope angle and controlled angle are discussed, the relevant conclusions and the design formula are reached. To the controller design of body angle and the wheel speed, the fuzzy double loop controller with better control effect is built based on the experiment results of traditional double loop PID controller, and the robustness of which is verified by simulation experiment. For the difference of the two wheels'speed when straight line running, a method of dynamic switching compensation is presented, and its effectiveness is verified.In the third part, the device of TWSBEV is designed and manufactured, which includes five parts: angle sensor based on MEMS, actuators, controller, power supplier module and human-computer interaction module. Aiming at DSP2812 control chip, the software structure of the system is determined too.Finally, the control algorithm is converted to program code and written into the control chip. A series of experiments are taken, and the results prove the controller designed in this paper effective for real system too.