Research And Realization On Optimization Of Movement Control Based On Manned Self-balancing Vehicle

The two-wheel balancing vehicle with two parallel layouts of two sides is a kind of intelligent terminal which driven by clean energy electricity and controlled by microcomputers.It's design breaks through the static balance concept of traditional vehicles,which can perceive the environment,automatic control dynamic balance,realize the zero radius rotation and so on.As a new type of manned vehicle,two-wheel balancing vehicle does not have a traditional braking system.Therefore,it is very important to design a control system that can adapt to the user's body shape and operation,and that is safe and stable.In recent years,The balancing vehicle has achieved rapidly development.At the same time,Research on balancing vehicle has also springing up,but the problem of being stability control has not been well solved.Especially in a more complex pavement environment.In view of this defect,this paper,based on a relatively stable control scheme,three aspects of balanced vehicle that mathematical model,sensor data fusion and balancing vehicle control algorithm are perfected and optimized respectively.The main work is as follows:1.A more complete two wheel balance vehicle mathematical model is established to verify the feasibility and stability of two wheel balancing vehicle.It also provides theoretical guidance for vehicle frame structure and motor selection.2.According to the guidance of the above model,a set of mechanical frame with low center of gravity and distributed over the two wheel axle center is selected,and the assembly of the body frame and the modification of some circuits are completed.3.the visual module is added,and the visual information is fixed with the MSME sensor data,and the dynamic Kalman filter is used to predict the position of the vehicle.4.A fuzzy PD controller that meets the requirements of the balancing vehicle system is designed for the control rule of the balancing vehicle,and is transplanted tothe platform of the balance control software control system.Finally,the experiment is designed from three aspects,including the self balancing performance of the car body,the performance of driving,and the performance of the car under complex road conditions.The test results show that the optimization scheme in this paper is established.By summarizing the research results of this paper,and comparing with the research results of the balancing balance car in the past three years,The results show that the control system of the double wheel balancing car designed in this paper has some advanced characteristics.