The Control System Design Of Self-balance For Manned Two Wheels Electric Car

The thesis has designed and produced a manned two wheels self-balance car, fromtheory and practice, the thesis discussed the working principle of the self-balance for mannedtwo wheels car. Belongs to an unstable system, it was similar with the traditional invertedpendulum principle, and it must be controlled by powerful external forces to make it up. Withthe help of the Protel software, schematic diagram of hardware system and the PCB design,from the selected components to a printed circuit board, also the construction of the hardwareplatform，program debugging，and the real car, then，the entire system was established. Thebalance of the car using standard C language, and MPLAB IDE for the developmentenvironment. MPLAB IDE integrated development environment is integrated editor, projectmanager and design platform, suitable for embedded design and application development onthe use of Microchip PICmicro series singlechip,which was based on the Windows operatingsystem development environment and integrated the compiler connectors. Auxiliary softwareincludes a serial port debug hunter. Finally, this thesis discusses the problems and thedebugging method in the process of debugging, such as complementary Calman filterparameters are selected and the setting of PID parameter.In this system, the main control chip using PIC18F4331which has based on PICmicroproduced by Microchip company. After analysised the problems of using the gyroscope andacceleration alone, the design of the attitude data acquisition using MPU6050accelerometerand gyroscope mutual calibration scheme. Choosing IR2184S which was special automobilemotor driver chip produced by IR company. Software algorithm using data Kalmanmerging with PID control. Algorithm is more efficient and more smooth of the control effect.Integrated above hardware circuit and software algorithm finally achieved manned thebalance design of the control system of two rounds of car.