Design And Research On Control System Of Two Wheel Balancing Vehicle

Two wheel balancing vehicle is a highly unstable nonlinear system,and its dynamics equation is a nonlinear high order equation with multi variables,instability, coupling, time-varying and uncertain parameters and the control task of the system is multiple. As a result, the two wheel balancing vehicle is a typical model for testing the control capability and effect of various control algorithms. In addition, on the basis of the research of balance vehicle, so that it can adapt to the complex environment of navigation, inspection, obstacle avoidance, etc. In the industrial production and social life, it has great research significance and application potential.In this thesis, the research on the attitude acquisition methods and the balance control strategy of the non manned self balanced two wheel vehicle is studied. The main contents are as follows:Firstly, establishing the mathematical model of the system Using Newton's method to analyze the motion process of two wheeled balancing vehicle, and deriving the nonlinear model of the balanced vehicle system and the linear processing is carried out in a small angle. According to the linear model, the stability, observability and controllability of the system are analyzed.Secondly, aiming at the problem of low precision, poor real-time performance, easy divergence, and poor processing ability of the traditional Kalman filtering algorithm, an improved filtering algorithm for multi sensor data fusion is studied to estimate the optimal tilt angle of the vehicle. Simulation results verify the effectiveness and superiority of the improved filtering algorithm in multi sensor information fusion.Thirdly, in order to cope with the uncertainty of the mathematical model and to adapt to the change of the environment of the balanced vehicle, the fuzzy PD controller is designed to control the balance of vehicle. Combining the advantages of the traditional PD control algorithm and the fuzzy control theory,and the experience of the artificial parameter tuning is added to the PD control to realize the fuzzy tuning of parameters of PD control algorithm. Simulationresults verify the effectiveness and superiority of the fuzzy PD algorithm.Fourthly, the filtering algorithm and control method are verified by the experimental device of two wheel balancing vehicle. Through real time communication between bluetooth module equipped in the car and the host computer, observing the different situations of the angle information and the effectiveness of filtering algorithm and control strategy in practical application is analyzed.