Design Of Control System For The Two-wheeled Self-balancing Vehicle

With the characteristic of the wheels arrangement is parallel as the electric bike is vertical,the Two-wheeled Self-balancing Electric Vehicle(TSEV)has the advantages of simple structure,small size,agile steering and so on.It works well even under complex circumstance,which brings wide application prospect.The unique structure of self-balancing vehicle makes it a naturally unstable,strong coupling nonlinear system.So,research on TSEV control system has great significance.The following work has been done in this paper:(1)After summarizing the research works around the world,the physical equations based on the principle of how TSEV works has been analysed,which establishes the nonlinear model.(2)As to the problem that the gyroscope signal is drifting and the accelerometer is liable to impact,A Kalman Filter to fuse data for accurate angle information is carried out in this paper.By analyzing system parameters may change with different drivers or circumstances and PID control has a contradiction between fastness and overshoot,A TSEV control strategy based on Fuzzy PD Control and Active Disturbance Rejection Control(ADRC)is designed in this paper.(3)Based on these theory,the controller hardware include control circuit,drive circuit and sensors circuit is designed.The control program for realizing the algorithm and the simulation program with tool kit of MATLAB had been completed.(4)The whole TSEV system is built and the field experiment is taken to verify the validity and reliability of the control system.