Designe Of PID Parameter Validation Platform For Seif-Balancing Two-Wheeled Trolley

The two-wheeled self-balancing car designed based on the inverted pendulum principle. it is a very useful experimental carrier to verify the control theory. At present, the theory of inverted pendulum is mainly used in universities’parameter validation platform or such facilities but there still exits problems, like the inconvenience of the teaching laboratory equipment and the high cost of the equipment, etc. My research topic is the design that based on the PID parameter validation platform of two-wheeled self-balanced trolley. The thesis mainly has done the following research work:1. Two wheeled self-balanced trolley’s PID parameter validation platform is constituted by its entity and parameter regulator. Two wheeled self-balanced trolley’s PID parameter validation platform consists of a main controller named GD32F103RET6, a gyroscope, an accelerator and a full-bridge driver called L298n. Meanwhile, the main controller STC12C5A60S2, wireless chip NRF24L01, liquid crystal OLED12864 and other parts together make up the PID parameter regulator.2. Algorithm research and validation have been studied and validated in the system. Two-wheeled self-balanced trolley’s three states of upright, traveling and turning respectively correspond to three mathematical models. Therefore, the optimal PID parameters requires different control methods and strategies to debug for each state.3. Building the actual two-wheeled self-balanced trolley, Draw and produce a balanced car main control board, a remote control board and other circuit boards by using the resources of laboratory. Construct the two-wheeled self-balanced vehicle platforms, set up each module and put up the power of the suitable distribution work assembly.The design results show, Firstly, the parameter validation platform obtains the vertical angle in a non-inertial integrated value by internal integrated gyroscope and accelerometer of the attitude sensor mpu6500; then both the median filter and the mean filter are used to filtered the signal; what is more,.use the Carl Man algorithm to fuse the angle value which is respectively getting by gyro and acceleration meter. Eventually, a closed loop balance angle is formed. Both the timer and the encoder play an active role in the first closed loop speed:The timer is used to record time within a fixed time interval; Besides, the number of pulse encoder also can be accounted to achieve the effort of measurement. The attitudinal self-stabilization of the two-wheeled trolley is controlled by PID algorithm which can change the duty cycle of DC motor PWM to compensate the shifty angles real-timely. It can be a good platform to verify the role of various PID control parameters throughout the session.The parameter verification platform of two-wheeled self-balanced trolley has the advantages of simple structure, carry convenient, intelligent etc. It is not only suitable for working in smaller spaces, but also has a great space for development. Meanwhile, teachers can use the platform to combine the theoretical study and teaching experiment in the course of automatic control theory.