Research And Implementation Of Self-balancing Dual-wheel Electric Vehicle Control System

With the greenhouse effect and city traffic congestion problems have become increasingly serious,short distance transport of miniaturization is beginning to attract people's attention.Since the self balancing dual wheel electric vehicle has the advantages of simple structure,flexible movement and adapting to complex and changeable capabilities,the self balancing electric vehicle is becoming more and more popular.The design of Brushless DC motor control system for self balanced two wheeled electric vehicle is as follows:Firstly,the mathematical model is established.A single pendulum is used to analyze the force of the object,and the force analysis of the inverted pendulum under the condition of no rolling friction and static state is carried out?Then the mathematical differential equation of self balancing vehicle.After the balance of the car kinematics analysis,the mathematical model for laying the foundation of vehicle motion control.Secondly,attitude detection system.The measurement system adopts multiinertial sensors to measure motion attitude of self balancing two wheeled electric vehicle using Kalman filtering algorithm for data fusion to reduce the error and drift SDEV in the measuring process of the measurement data.Then,the design of backstepping adaptive dynamic sliding mode control algorithm.By studying the principle of model reference inversion and adaptive dynamic control,an adaptive backstepping dynamic sliding mode control algorithm is designed to realize the balance control of the system.The simulation of adaptive dynamic inversion controller based on MATLAB,and compare the simulation results with the traditional controller results,verify the advantages of adaptive dynamic inversion controller in anti-jamming and adjusting time.The effectiveness and superiority of backstepping adaptive dynamic sliding mode controller are proved.Finally,the overall design of the system is completed.The hardware part needs to clearly complete the device and its basic hardware circuit needed for each function.The software part design of the corresponding software program design motion control program of self balancing two wheeled electric vehicle.The vertical balance and direction rotation of the car are controlled by PD,and the speed control adopts backstepping adaptive dynamic sliding mode control.Mainly on the attitude sensor MPU6050 measuring acceleration and angular velocity signal of Calman filter,get the car after the dip,the signal is transmitted to the main controller,then control the motor speed and direction,realize the car automatic balance and walking.