Research On The Model And Control Method Of Two Wheeled Self-balanced Vehicle

The two-wheel self-balancing vehicle is based on the practical system which is the wheeled inverted pendulum model. The structure always includes engine block, chassis and wheel train. Its composition is simple, the volume is small. And it moved flexibly. But the dynamics system has multivariate, nonlinearity, tight coupling and other features. It is a kind of non-holonomic and under-actuated non-equilibrium system. Therefore the two-wheel self-balancing vehicle has a strong control theoretical research significance. The thesis studies the control method in two-wheel self-balancing system model.The thesis is based on the sufficient analysis of domestic and international research situation. According to Newton's laws of motion, it builds the nonlinearity system model about the two-wheel self-balancing vehicle. It gets the system line motion model according to research carried out on the system model decoupling. Nonlinearity system model carries on linearization. It adopts the accurate linearized method of local feedback. Researching on the controllable matrix condition number, it gets that the feedback linearized model is closer to the primary nonlinear system than Taylor series and DLM. And on the basis of this linear model, it analyses the controllability, objectivity and stability of this system.The thesis focuses on the design of two-wheel self-balancing system's control method. The design model of control method is the linear model which is from the feedback linearization. According to the modern control theory, the pole placement is a method which controls simply, realized easily and controls efficiently. Based on this method, we can also get the satisfying control when the system deviates from the balance a bit. However, the control on the pole placement is always unsatisfactory when there is environmental interference and parameter perturbation in the nonlinearity system and reality. According to the essential theory of VSC, VSC has good robustness. But it exists obvious buffeting. So we improve the buffeting on the basis of the essential VSC. Firstly, we adopt the exponent reaching law VSC to observe that the buffeting weakens obviously. To further improve control effect, the exponent reaching law VSC is transformed into the obscure VSC. It makes the control effect better.Finally, according to the simulation comparison, we can find that the improved obscure VSC can reach the equilibrium states under the limited time by the simulation result analysis of state response, scope of control, buffeting situation and anti-interference situation. The overshoot band of the system is small. The controllable angle range is bigger. And there is stronger anti-interference ability. And the buffeting blemish of VSC is contained effective.