Two-Wheeled Self-Balanced Vehicle Of Modeling And System Design

Two-wheeled self-balanced vehicle is a multi-variable,parameter uncertainty system,so it play a very important role in proving correctness of model and algorithm in the field of detection and automatic control.This article main content is as follows:Firstly,Establishing mechanics model uses Newtonian and Lagrange’s method,then design the mechanical struture of two-wheeled self-balanced vehicle.Creating mathematical expression of system bases on the mechanical struture.Secondly,analyse controllability and observability of mathematical model using Labview.Thirdly,select appropriate accelerometer and gyroscope, then analysis the sensitivity and the feasibility and create the principle diagram of measurement in the design. For measuring the speed,positon and rotation direction of vehicle,establish optical-electricity encoder circuit.Design hardware of driving-motor and high-power H-brige circuit.Fourthly,finish host conroller and complete the code in software design.Obtain the information of angle and angular-velocity by Kalman filtering.Edit Labview code and get the data such as PWM for analysing the property and stability of system.From the experimental data,prove the stabiliy of vehicle and the system could complete some function such as go forward or backward,turn,climbing.The research prove the validity of constructing model and the simulation.