Research And Design Of Control System For Manned Two Wheeled Self Balancing Vehicle

Manned two-wheeled self-balancing vehicles, as a new type of transportation vehicle, is powered by batteries, which have the advantage of low carbon,environmental protection, energy saving and so on. It can not only be used as a short distance travel tool and entertainment equipment, the research of key technologies such as self-balance control can be applied to wheeled robots, exoskeleton stability control and aerospace and other fields, especially for the study of natural unstable system and underactuated system.Manned two-wheeled self-balancing vehicle is a mechanical self-balancing device with the system of nonlinear, strong coupling and other characteristics. Because of its two rounds of unstable mechanical structure, in the process of man-machine collaboration is very easy to receive the impact of external uncertain factors, especially the impact of road conditions. Self-balancing vehicle design has many characteristics such as dynamic stability factors and complex motion control. Therefore, how to accurately identify the man-machine attitude information and design a robustness, wide range of applications and high anti-interference ability self-balancing control system in the design is the two important components of the manned self-balancing vehicle. In this master thesis, the motion characteristics and control law of manned self balanced vehicle are studied through practical engineering. Design and implementation of the state perception and self-balancing control algorithm.The main contents of this master thesis are as follows: (1) Firstly, Real-time Perception and Interactive Technology of Man-machine Attitude Based on Data Fusion,An adaptive attitude fusion algorithm based on Kalman filter is designed according to the real needs such as real-time delay and interference error in attitude calculation, And an adaptive compensation strategy based on the characteristics of noise and measurement elements is proposed. (2) A self-equalization control algorithm for flexible large load is studied and designed. According to the strong carrier between the body of the vehicle, there is a strong man-machine interference to produce self-oscillation, the manned self-balancing control system in the case of high load under high torque real-time response to a higher demand for this problem a three closed-loop self-balanced control method based on motor servo control algorithm and double closed-loop balanced control algorithm is designed. (3) In order to solve the problem of power failure and loss of control in the market, several optimization is carried out from the point of view of the system. In the aspect of hardware improvement, the manned sensor switch is added to determine the absolute stop of the vehicle. Software design has joined the alarm device, for the power is too low, speeding, the angle is too large, the speed out of control and other issues, ahead of the forecast; (4) Finally, In order to verify the control performance of the self-balancing control system designed in this master thesis,the balance performance and stability of the manned self-balancing vehicle are verified from the rigid carrier and the flexible carrier respectively. The stability and feasibility of the attitude sensing and self - balanced control algorithm are proved.