Research On A Double Closed-loop Control Algorithm For The Two-wheeled Self-balancing Vehicle

Two-wheeled self-balancing vehicle, just like an inverted pendulum system, is one of complexsystems characterized with instability, multi-variables, nonlinear and strong coupled. At the same time, it iseasy to implement not only for the simple structure, but also for the low cost. In modern control theory,many researchers develop new control methods with inverted pendulum system and applies to all kinds ofhigh-tech fields such as aerospace science and technology and robotics. In this paper, to get the furtherstudy of two-wheeled self-balancing vehicle which is based on inverted pendulum system, it begins withmodeling method used by Newton-Euler and SimMechannics toolbox. Then a double closed-loop controlstrategy is put forward. And it has been successful in controling inverted pendulum system. After in-depthstudy of inverted pendulum system, it is designed the model of two-wheeled self-balancing vehicle andsussessfully controlled.Detailed contents are as follows, firstly, the single-stage inverted pendulum system is modeled withNewton-Euler method. In order to modify the parameters of inverted pendulum system, it can use modelingmethod based on SimMechannics toolbox. Taking the single-stage inverted pendulum syetem as anexample, it successfully establishes the SimMechannics model. And it adopts LQR algorithm to verify thevalidity of this modeling method. Secondly, based on the PID algorithm, the root locus correctionalgorithm and fuzzy logic control algorithm is researched, a double closed-loop control algorithm isestablised, taking one linear inverted pendulum system as an example, and successfully verifies theeffectiveness of this algorithm. Thirdly, based on research of modeling and control algorithm for invertedpendulum system, it is designed two-wheeled self-balancing vehicle, including design and studies ofvarious important sensors and circuit modules. Finally, it adopts double closed-loop control algorithm tocontrol the two-wheeled self-balancing vehicle successfully. The above research and design methods haveconsiderable practical significance.