Research On Fuzzy Sliding Mode Control For Two-wheeled Self-balancing Vehicle

Two-wheel self-balancing vehicle is a special transportation tool in the field of intelligent transportation.Compared with traditional electric vehicles,it has the advantages of simple structure,small size,flexible steering,etc.,and can be adapted to a variety of complex occasions.It has broad application prospects in both military and civilian fields.At the same time,the balancing trolley is a nonlinear,underdriven and strongly coupled system,which is suitable for the experimental platform for the verification of various control algorithms.The specific contents of this thesis are as follows:(1)The balance principle of two-wheel self-balancing vehicle is introduced.The force analysis of the vehicle system by Newton mechanics method is used to establish the dynamic model.The state space equation of the system is obtained by linearizing the model,and the performance of the system is analyzed.(2)This thesis analyzes the principle of accelerometer and gyroscope to measure the inclination Angle of balanced vehicle body,analyzes and compares the Kalman filtering algorithm and complementary filtering algorithm,selects and designs Kalman filtering algorithm to process the data of the two to obtain more accurate inclination Angle,and effectively verifies the designed filter by MATLAB simulation.(3)Aiming at the nonlinear system of two-wheel self-balancing vehicle,a sliding mode controller based on exponential approach law is designed,which can effectively control the vehicle system,but serious chattering will occur in the system.Combining the advantages of fuzzy control and sliding mode control,an adaptive fuzzy sliding mode controller is designed.The simulation results show that the improved controller can weaken chattering obviously and is robust to system parameter perturbation and external disturbance.(4)Design the hardware and software of the vehicle according to its functional tasks and build the physical platform of the vehicle.After software and hardware debugging,the vehicle can reach a balanced state,which verifies the effectiveness of the control algorithm.