| Two-wheeled self-balancing vehicle has the properties of small volume andflexible turning, and its dynamic supply is clear power energy. As a new type ofscooter vehicle, Two-wheeled self-balancing vehicle has been widely used in manyfields, such as traffic, exploration, rescue and entertainment, and supplies an effectsolution about environment pollution, energy crisis. The structure of two-wheeledself-balancing vehicle with characters of high order, nonlinear, heavy couple andinstability, is similar to that of single-order inverted pendulum, and it is acomprehensive research-platform for data-collection, control strategy for close-loopcontrol system.Sliding mode control has been gradually developed an intelligent control methodto deal with the complex system and obtained good control effect. Based on theseadvantages of sliding mode control, a Two-wheeled self-balancing vehicle systembased on sliding mode control is designed in the paper.Firstly, Newton dynamics method is deduced to obtain the dynamics equations ofthe system nearby the equilibrium point, and then decoupling element is analyzed anddesigned to realize the control system of two-wheeled self-balancing vehicle. Secondly,a kind of sliding mode controller with quasi-sliding mode is designed. As to thealgorithm, the saturation function is replaced by switching function designed in thepaper. The simulation results verify the effectiveness of the designed control strategyin dealing with under-actuated, unstable and multi-variable coupled systems. Finally, acontrol system of two-wheeled self-balancing vehicle is designed and realized byFreescale single-chip. The design of hardware and software system is introduced indetail, and the designed sliding mode controller is used to realize the angle-balancingand velocity control of the system.Simulation and experiments results manifest that the designed sliding modecontroller with quasi-sliding mode is practicable and effective. |
PDF Full Text Request