A Two-wheel Balanced Vehicle Design Based On Cloud Model

As a wheeled robot and one of the important development achievements of automatic control technology,the two wheeled balancing vehicle has a wide prospect in the manufacturing field because of its simple structure,small size,flexible movement,application in all kinds of environments and other unique advantages.With the widening of the application area,this kind of model has a strong environmental instability during the operation,so the balance performance and obstacle avoidance function of the vehicle are the key to its design.In this thesis,the surrounding environment is detected by use of ultrasonic and infrared sensors,the surrounding information is analyzed by use of cloud model algorithm,and finally,the obstacle avoidance function of the vehicle is realized through control algorithm.The main works are as follows:(1)Under nonholonomic constraint condition,establish the Newtonian mechanics model and Lagrangian dynamics model of two wheeled balancing vehicle in the relatively stable environment,deconstruct the balance condition of the vehicle,decompose the three control links of balance,speed and direction and formulate the control scheme.(2)Obtain the dynamic attitude data of the vehicle by use of MPU-6050 sensor,and achieve the balance control of the vehicle.Analyze the possible measurement error and noise interference in the attitude detection,propose a attitude detection method with higher accuracy based on Kalman filtering,and achieve the dynamic balance of the vehicle by use of classical PID control.(3)Combine the ultrasonic sensor with infrared sensor to control the speed adjustment and steering adjustment of the vehicle,so as to avoid obstacles.Analyze the cloud model control principle,set the cloud model rule bank according to the characteristics of the control system,and verify the scientific application of cloud model controller in the obstacle avoidance system of two wheeled balancing vehicles through MATLAB simulation.(4)The task scheduling system based on timeslice polling,the software part is designed and perfected from sensor signal acquisition,attitude angle processing,balance control achievement and obstacle avoidance function.And the mobile terminal control APP is developed based on Android,achieving the man-machine interaction in the debugging process.This thesis mainly analyzes and designs software and hardware of the vehicle's obstacle avoidance control in unknown environments,achieves the simulation of the cloud model obstacle avoidance algorithm in the two wheeled balancing vehicle for the first time.Finally,the real vehicle obstacle avoidance experiment is carried out,and the cloud theory is applied to specific system to achieve good control effect,which will become another key of cloud model research.