Two Self-Balancing Vehicle’s Mechanical And Electrical System Modeling And Simulation Based On LabVIEW

Two self-balancing transportation device is a new means of transport,which is an essentiallyunbalanced carrier. It is different from the bike,that two wheels are arranged side byside.Cycling is able to run smoothly completely based on the body’s balance skills,while twoself-balancing transportation device through internal controls to achieve this balance. Thisequilibrium balance device does not require special balance skills, only forward or backward toachieve the forward or backward, and not fall. The device t is small in mechanism and can makea flexible motion.So it is fit for tasks in narrow and dangerous space and has a wide foregroundboth in civilian and military application.The instability of balancing robot systems will also be anexcellent test bed for control theory experimentation.. However, its dynamics is very complex,which is a multi-variable, nonlinear, strong coupling of the unstable system,there is considerabledifficulty to balance control it.LabVIEW is graphical programming language and development environment, which isknown as the engineer’s language. With the LabVIEW Control Design Toolkit, we can easily andquickly model for the balance vehicle system, analysis and control algorithm design. UnitedStates National Instruments launch the CompactRIO is an industrial embedded measurement andcontrol system, which integrated of embedded real-time controller (Real-time), programmablehardware logic (FPGA) and reconFig.urable I/O modules. CompactRIO system and LabVIEWdevelopment environment can be connected seamlessly, which can be easily accessed theunderlying hardware through a graphical development environment. This advantage can greatlyshorten the development time.In this paper,after summing up a research status for the two self-balancing transportation athome and abroad, aims to explore the two self-balancing transportation device control algorithmdesign issues and Simulation in the LabVIEW, for the ultimate realization completelyautonomous mobile lay the foundation. First, using Newton’s dynamics method and underreasonable assumptions, making a dynamic analysis about the two self-balancing transportationdevice and established a mathematical model of the system dynamics. Then making a analysisabout open-loop system’s controllability and observability, providing a theoretical basis for thecontroller design. next, according to the separation principle,design the optimal linear quadraticregulator and Kalman filter respectively.Under the condition of both have a goodperformance,put the two side to together to get Optimal Quadratic Gaussian controller, Thecontroller’s main role is back to the equilibrium position when be subjected to externalinterference. In order to allow the body to achieve the location, speed and angle tracking according to the remote controller’s given signal, designed a position and speed trackingcontroller based on PID algorithm,then join with Quadratic Gaussian controller together,realizing two self-balancing transportation device that coulde autonomous transport. In addition,it can be used to seamlessly connects with CompactRIO that used in this paper, which cangreatly reduce system development time, Finally, contact the hardware and software, developeddriver interface between LabVIEW NI SoftMotion and C Series modules.Using LabVIEW simulate for the above filter and controller, Obtainning the desired balanceand speed tracking performance, verify the data fusion algorithm and the correspondingcontroller correctness and validity.