Two Wheeled Balancing Human Transporter Research On Embedded System And Low Cost Sensor

In recent years, the theory and application research of the two wheeledbalancing human transporter has gained more and more attention in thecontrol community. The transporter is not only small in mechanism and canmake a flexible motion,but also protect environment.So it is a new typeof human transporter,and have a wide range of application prospection.It must be exerted strong control to make it stable, because the deviceof this system is a parallel arrangement of two single wheels and a naturalinstability, like a traditional inverted pendulum.In this paper，studies on two wheeled balancing human transporter athome and abroad are summarized.We have designed and made the mechanicalstructure of two wheeled balancing human transporter, design a foldingseat for the concept of humanized design which is simple structure and moreconvenient,and then the driver could stand or sit on the seat when he drive.All the mode of motions of two wheeled balancing human transporter is inthe premise of balance control, so it is key to control movement balance.After analysis of system force, established three degrees of freedom modelby using Lagrange equation，and obtain the corresponding state equationwith state variable. After analysis state equation, we can find the twoindependent sub systems: linear motion system and turning movement system.On this basis, using PID and Fuzzy control to simulation analysis.Two wheeled balancing human transporter is an intelligent product whichis human and computer can communicate with each other. The LCD screen andpower lights can tell driver the vehicle motion state, and the driver alsocould rotate the handle to achieve a certain speed before change the centerof mass. The article is selected the appropriate controller, motors andsensors to design two wheeled balancing human transporter drive circuit.And it accomplishes the entire hardware control system.In real time of the control on the two wheeled balancing humantransporter require the information of vehicle, in order to change speedof electrical appliances and keep dynamic equilibrium. In this paper, lowcost sensor instead of expensive sensor for reducing the production costs, compare and analysis of the system error which is taken by low cost sensor,and the result find that the low cost sensor could content the run ofvehicle.