| Two-wheeled self-balancing vehicle has been a new means of short commutes recently. It is a kind of mobile robot based on inverted pendulum. It has the advantages of simple structure, flexible movement, environmental protection and energy saving, simple operation, zero turning radius and wide applicable occasions. Meanwhile, because of the characteristics of multivariate, instability, underactuation, strong coupling and nonlinearity, the two-wheeled self-balancing vehicle is an ideal platform to verify new control theory and algorithm. Therefore, study on the design and implementation of the two-wheeled self-balancing vehicle has important theoretical and practical significance.Based on the analysis of domestic and foreign research status and related products, the thesis designed and implemented a new type of two-wheeled self-balancing vehicle for both standing and sitting, which can be operated by somatosensory and throttle. The following aspects were involved in this thesis:(1) According to the research on the mathematical modeling method of two-wheeled self-balancing vehicle systems, the dynamic model was established based on the Lagrange's equation. The system model was then linearized near its equilibrium point. By analyzing the system dynamic model, the state variable model was decoupled and established.(2) According to the analysis of the stability, controllability and observability of the state variables model of the system, the pole placement controller was designed based on the modern control theory. The effectiveness of the control algorithm was evaluated by Simulink.(3) Based on the above theoretical analysis, the mechanical structure, hardware and embedded software of the two-wheeled self-balancing vehicle for both standing and sitting were designed and implemented. The system was tested under various experimental setup and the performance of the system demonstrated its effectiveness in expected functions and control abilities. |
PDF Full Text Request