Designing And Researching Of The Two Wheeled Self-balancing Electric Vehicle Control System

Along with environment problems of countries around the world are increasinglyhighlight and the people continued to enhance the awareness of environmentalprotection, energy conservation and environmental protection has become animportant standard for product development and production. Entering the new century,with the rapid development of robotics and advanced manufacturing technology,two-wheeled upright self-balancing robot applications in the new energytransportation engineering research sparked great enthusiasm, but also makes avariety of advanced control systems continued with the birth. Among them, thetwo-wheeled self-balancing electric vehicle is the most typical representative oftwo-wheeled upright robot and new energy vehicles combined products,bring lots ofbrief to the urban traffic pressure.The two-wheeled self-balancing electric vehicle’skey component is attitude estimation module,and the core technology is the controltechnology of bodywork. Therefore, this study focuses on the two-wheeledself-balancing electric vehicle control systems, the innovation and development of anew control system on the basis of previous studies and completed the design of thekey module.The following is the main work done in this paper:①The suspension system. Innovative design of the mechanical structure of thevehicle suspension system, for the reduce shock absorption of vehicle body andimprove the driving comfort has played an important role.②Mathematical modeling. Combined with two-wheeled self balancing electricvehicle dynamics model, the kinematic model and its servo motor model, using theEuler-Lagrange energy method, the establishment of the control system equation ofstate. ③Attitude estimation system. A strapdown inertial attitude determination systemusing accelerometer and gyroscope combination, provide precise attitude informationof the bicycle as the main control unit. At the same time, design an adaptive extendedKalman filter for attitude detection system, effectively eliminating the interferencesignal.④Design of hierarchical sliding mode controller. As the core part of this paper,Hierarchical sliding mode control method designed in this paper,use power-fuction asalgorithm of reaching law, while maintaining excellent characteristics of traditionalsliding mode control effectively weaken the system chattering. Through thesimulation research and comparison with the traditional sliding mode control method,not only proved the feasibility of this method, but also verify that this method toweaken the chattering phenomenon has a more obvious effect.