Dynamics Simulation Study Of Two-wheeled Self-balancing Electrocar Based On Virtual Prototyping Technology

Two-wheel self-balancing electric vehicle is a new kind of transporter. With its wheelsarranged in parallel, two-wheel self-balancing electric vehicle relies on tilt sensors andgyroscopes, utilizing special control algorithm to maintain balance. With features of smallsize, simple structure and flexible motion, two-wheel self-balancing electric vehicle canachieve zero turning radius, which makes it suitable for activities within small space. Typicalapplications include scooter, varnish, emergency services, space exploration, intelligent wheelchair, and other prospects to be developed. The essence of two-wheel self-balancing electricvehicle is a special kind of wheeled moving system, which is naturally with multi-variable,non-linear and unstable working conditions, serious coupling and uncertain parameters etc. Inthis dissertation, kinetic studies and simulation analysis is performed via virtual prototypingtechnology, proving the effectiveness of the design.In this dissertation, innovative design of two-wheel self-balancing is presented based ondetailed analysis on its working principle, especially on the characteristics of relatively poordamping and smoothness performance. A new design with damper is presented, dynamicanalysis on the suspension mechanism is performed, power performance is checked. Kineticanalysis of simplified model based on Newton laws is performed. System state spaceequations are deduced with vehicle parameters in order to analyze the controllability of thesystem. LQR algorithm is used to verify the state-space equation, and the effect onperformance by height change of gravity center is analyzed.According to the actual physics and geometry of the vehicle, three-dimensional physicalmodel is built. Rigid body, constraints and forces are defined using the specialized module inADAMS, so to build the simulation model in virtual reality environment. Fuzzy ControlTheory and PID controller are combined to build the fuzzy adaptive PID controller. Finally,Co-simulation control model of ADAMS and SIMULINK is built. Standing balance control,position control and speed control simulation show that the virtual prototype is well controledwith good stability and robustness. Finally, experiment is conducted to verify that theprototype meets the requirements of the dynamic characteristics.