Design And Implementation Of A Two-wheeled Self-balanced Vehicle

The two-wheeled self-balanced vehicle is a new style of short-distance transportation, which is designed based on the inverted pendulum model. Its outstanding features are small, simple, flexible, and energy-saving. The vehicle can achieve zero-radius rotation in a narrow space. The basic operation principle of the two-wheeled vehicle is as follows:firstly the real-time attitude information of the vehicle is obtained using gyroscope and accelerometer. Then, the real-time attitude information is combined with self-balanced algorithms to correct the deviation and keep dynamic balance when the vehicle is moving. To address the high cost and low popularity of the self-balancing vehicle, this paper develops a two-wheeled self-balancing vehicle using low-cost attitude sensors.Firstly, based on requiring analysis, the paper develops the two-wheeled self-balanced vehicle overall design method from five aspects, which are the mechanical structure, power system, hardware & software of the control system, and HCI.Secondly, a PD control algorithm is designed which is applied on two-wheeled self-balanced vehicle. After that, an advanced fuzzy adaptive PD control algorithm is further developed. Then, ADAMS is used to establish the dynamics model of the two-wheeled self-balancing vehicle. The two algorithms are verified and compared by ADAMS and MATLAB co-simulation experiments, which provides a theoretical basis for improving the design and control strategies.Thirdly, a task scheduling system is designed mainly based on the time slice polling method. Then, a software system is designed for the two-wheeled self-balanced vehicle from four aspects:the attitude detection system, the Kalman filter, the balancing algorithm software, and steering programming. After that, the self-balancing vehicle application for implementing certain interactive features is developed based on Android.Finally, on the basis of current laboratory conditions, a prototype is assembled, and the corresponding hardware & software is developed. Experiments using the prototype vehicle are performed to verify the design method and balancing algorithm. Results show that the system has good control performance and high stability.