Design And Implementation Of Electronic Control System For Self-balancing Two-wheeler

Two-wheeled vehicles have good maneuverability and occupy an important place among the delivery vehicles.With the acceleration of urbanization and the increasing demand for intelligent travel,unmanned two-wheelers,as a new type of travel tool,have broad market prospects.This paper mainly focuses on the self-balancing problem in unmanned two-wheeler driving,studies the self-balancing technology of two-wheeled vehicles based on control moment gyroscope(CMG),and focuses on the design and implementation of self-balancing two-wheeler electronic control system,including the design and construction of self-balancing two-wheeler electronic control system,twowheeler dynamic modeling,self-balancing control algorithm design and MATLAB/Simulink platform and self-balancing two-wheeler experimental platform simulation and experimental verification.The specific research work is as follows:First of all,according to the functional requirements of the self-balancing control technology of two-wheeled vehicles,the electronic control system is designed and built.It mainly designs the overall scheme of the electronic control system and clarifies the composition and function of the electronic control system.Secondly,the hardware system design and selection are carried out,including CMG balance control device design,micro-control system design and other hardware module selection.Finally,the electronic control system construction and functional module debugging are carried out.Secondly,on the basis of the built electronic control system,the dynamics of the two-wheeler are modeled.Firstly,the equilibrium force of the two-wheeler based on centrifugal force and gravity is analyzed,and secondly,the rolling dynamic equation of the two-wheeler based on CMG is established by the Lagrange equation method,and the accuracy of the proposed model is verified by experiments.Finally,the theoretical properties of the proposed model such as controllability and observability are analyzed,and the correlation between vehicle deflection angle,deflection angle velocity and vehicle moment of inertia is clarified,which lays a foundation for formulating effective control strategies.Then,based on the established two-wheeler dynamic model,the self-balancing control strategy is further studied.Firstly,the fuzzy PID control strategy is established,the membership degree function is selected,the fuzzy rules are formulated based on test and experience,and the effectiveness of the proposed method is verified by simulation.Furthermore,considering the global asymptotic stability of two-wheeled vehicles,a selfbalancing control strategy based on LQR is proposed,and the slope angle and balance stability position of two-wheelers are used as evaluation indicators to verify the effectiveness and reliability of the proposed balance control strategy.Finally,an experimental platform for self-balancing two-wheelers was built and the proposed control strategy was experimentally verified and analyzed.The static balance performance test and anti-interference torque balance performance experiment of the proposed fuzzy PID control and LQR control strategies were carried out on the real vehicle,and the deflection angle and CMG precession angle of the vehicle body were used as the performance indicators to verify the feasibility of the proposed control method and its anti-interference ability.