Design Of Self-balancing Two-wheeled Vehicle And VCS Research Based On Fuzzy-linearization Model

In this paper, the object is unstable nature of self-balancing two-wheeled robot and it is a special kind of wheeled mobile robot with multi-variable, non-linear, strong coupling, time-varying, and parameters of uncertainty. This complex experimental device has become an ideal platform to study control theory and control technology.One of the key points in this paper is the R & D of hardware and software of the two-wheel self-balanced vehicle. Through analyzing and profiting the composition of the self-balancing two-wheeled vehicle from the domestic and foreign, hardware and software of the two-wheeled self-balanced vehicle is designed. A angle sensor placed on the robot is used to test posture, angle information is put into a microcontroller via peripheral circuit, after control algorithm in the microcontroller, control signal is out to drive the motors placed under the robot to achieve the robot's self-balance. The frame structure of software and programming have been completed, and the robot can cacrry out corresponding operation, it is ready for the next control algorithm. Another key point in this paper is the reaserch on VSC (Variable-Structure Control) of this robot. By analyzing the principle,characteristic,the reason why vibration is generated and weakened of sliding mode VSC, this paper proposes a new kind of VSC controller of adaptive regulation of reaching law based on traditional VSC controller. Analysis on system structure,non-linear mathematics model are given, and the two VSC controllers are applied on the fuzzy-linearization model of the two-wheel self-balanced vehicle separately. The simulation results show that the improved methods weaken vibration obviously and this system has robustness to load disturbance and system parameters change.