Research Of Two-wheeled Self-balancing Electric Vehicle Controlling System

Self-balancing two-wheel electric vehicle has the advantage of novel technology, small size, flexibility in operating and convenient to driving, so that it has favourably received in resent years. The Self-balancing two-wheeled electric vehicle is a complicated Mechatronics system, composed by driving circuit, power supply module, sensor, controlling module, mechanical structure etc. Similar to the Inverted pendulum system, the vehicle is a typical statically unstable system, so it must depend on external control means to make system to stable. Research of this vehicle involving motor drive technology, power supply technology, sensor technology, signal processing technology, control theory, mechanical mechanism, the content in the field of design, etc. Due to the complexity about relative research, so far only the decimal companys have the capabilities of research and development.The purpose of this paper is to design a system about Self-balancing two-wheel electric vehicle which has characteristics of higner reliability,lower cost,simple structure and good performance. The paper’s main works are as following:(1) To establish the dynamic model of the Self-balancing two-wheel electric vehicle. Reference to analysis and research about inverted pendulum system, in turn for two-wheeled self-balancing electric vehicle kinematics and dynamics analysis, thus laid a basis for study of control strategy and algorithm.(2) Attitude detection-filter design. Using the principle of Kalman filter, through methods of the simulation experiment, shows that the combined measurement approach based on Kalman filter can significantly improve the quality of the signal, restrain noise interference, increasing the reliability of the gesture detection.(3) To complete the system overall scheme design and hardware design. To Complete the design of the dynamic balance control system hardware circuit, including power supply module, signal adjusting module, the steering wheel data readout circuit, wireless data transmission module.(4) Double brushless DC motor drive design. The working principle of brushless DC motor are analyzed. As core of the control system, Microcontroller TMS320F2812 DSP is used to decode the rotor position signals come from the hall elements Installed on the brushless DC motor and to output the controlling signals so as to exchange phases of the main inverter circuit.