Two Wheel Electric Bicycle Self-balance Control Algorithm Research

Two-wheeled electric vehicle is a new kind of traffic tool, it with the electric bicycle and motorcycle wheels and arranged in different ways, but with two side-by-side fixed way, like a kind of two parallel robot. The system is a kind of two parallel arrangement, like a traditional inverted pendulum, itself is a natural unstable body, must exert a powerful means of control to stability. Its small size, simple structure, flexible movement, suitable for small space and dangerous work, in the civil and military has a wide application prospect. This paper aims at the development of a two-wheel vehicle self balance control system, its working principle is to attitude sensor ( gyroscope, accelerometer ) to monitor the body at a pitch state and state change rate, through high speed microcontroller calculates the appropriate data and instructions, the drive motor to generate forward or backward acceleration to the body front and rear balance effect.In this paper, summarizing the domestic and foreign two-wheel self-balanced vehicle research the status quo, using Atmegal16 microcontroller, von Harbert Faulhaber encoder hollow cup reducer 2342L012, MMA226D accelerometer sensor and EWTS82 gyroscope, drive wheels, designed the board and motor drive plate assembly, two-wheeled electric models; through the C language since balance control program, recording program, real vehicle test the feasibility of control algorithms.In the course of the study, this paper set up the dynamics model, using the Lagrange equation to verify the system in three degrees of freedom can control, and a control algorithm of four K values, based on gyro drift and accelerometer the problem of slow dynamic response, the system of attitude detection, used alone or gyroscope accelerometer, are unable to provide valid and reliable information to reflect the real state of vehicle. Based on the sensor data collected in the Calman filter optimization processing, compensation of the gyro drift error and dynamic error of accelerometer, to get a better angle approximation. Based on the process control, PID controller has been one of the most widely used automatic controller, PID control has also been numerous control method is the most common application of the control algorithm, which solves the problem of the automatic control theory to solve the basic problem, not only the stability of the system, the rapidity and accuracy, regulation of PID parameters can be realized, the stability of system, balance the system load and anti-interference ability, at the same time in the PID regulator into integration, system adds a zero point, makes the order or first order above the system, so the system step response of the steady-state error is zero. This paper uses the PID algorithm based on Calman filter was better angle approximation, and a drive motor of the duty ratio PWM, to achieve two-wheel self-balanced vehicle attitude balance control, Calman filter is adopted to optimize the body posture, improve the control precision of the self-balanced two-wheel electric vehicle.