Research On The Control System Of Single-seated And Two-wheeled Self-balancing Electric Vehicle

With the design of single-seated and two-wheeled self-balancing electric vehicle’s control system, the self-balancing driving movement and turn movement control of the vehicle were completed. This paper mainly contains:design proposal and its related evaluation; A mathematical model of the vehicle was established and the mathematical model’s controllability and observability were analyzed; The electric vehicle’s control system was designed by using the optimal control theory, and its control performance was emulation and evaluated by Matlab/Simulink. At last, the hardware platform to the control system was built and its software programming was finished. The main contents and conclusions are divided into the following four parts:I. To confirm design proposal of the single-seated and two-wheeled self-balancing electric vehicle, an ADAMS dynamics emulation experiment were conducted according to the physical model of the design proposal. The results showed that the proposal was with feasibility and safety.II. To build the vehicle mathematical model by dynamics methods, this ensured the state equation of the vehicle control system. After analysis to its controllability and observability, it’s proved that the state equation was with controllability and observability.III. To finish the design of the electric vehicle control system by using the optimal control theory and combined with the linear state equation to complete the design of the main controller, with full state feedback control structure to form the control system. The control performance emulation to the control system was done with Matlab/Simulink, through the analysis to emulation results under different initial conditions, which showed that self-balancing driving movement and turn movement control of the single-seated two-wheeled and self-balancing electric vehicle can be completed by this control system design.IV. According to the vehicle system design proposal and the control system design to complete the construction of the electric vehicle’s hardware platform; And based on control performance requirements to achieve its software system programming; Finally the physical design of single-seated and two-wheeled self-balancing electric vehicle was achieved.