Research On Control System Of Two-wheeled Self-balancing Vehicle

Two-wheeled self-balancing vehicle uses clean electricity as power. It has the characteristic of small size and turning flexible. As a kind of solution for the problem of automobile exhaustion pollution and traffic jams, it matches the development of modern social. With the characteristic of nonlinearity, under-actuation, strong coupling and instability, it is an ideal experimental platform which is used to study control strategy. So the research on the motion control of two-wheeled self-balancing vehicle has important theoretical research value and practical significance.Newton’s theory of classical mechanics is used to establish the accurate mathematical model of two-wheeled self-balancing vehicle in this paper, through simulation results the correctness of the mathematical model is vertified, meanwhile, the accuratemathematical model near the equilibrium point of the system is linearized. In order to deepen the understanding of the system, the controllability and observabilityboth before and after discretization is analyzed. A state feedback controller based on linear quadratic regulator is designed, and the results of simulation experiment shows that it realizes the balance and speed control of the system.Based on the preliminary theoretical research, the hardware and software of two-wheeled self-balancing is designed in this paper. The hardware contains the design of core control board, power modules, posture inclination detection module, executive body and some peripheral device circuit. The software contains the design of system mainly control program based on MC9S12XS128MCU and wireless data transceiver program based on NRF24L01. In the end, some physicalexperiments are done, and the results show that the two-wheeled self-balancing vehicle designed in this paper can well realise self-balancing and stablely run stably.