Research On Stability Control System Of Woodland Two-wheel Self-balancing Car

The monitoring of diseases and insect pests and growth of woodland is very important,but the cost of manual inspection in large-scale planting is high and the labor intensity is high.Therefore,it is of great significance for forestry development to develop a two-wheel self-balancing car that can replace manual walking in woodland and serve as a carrier for various intelligent expansion function modules.In this paper,a two-wheel self-balancing car for woodland based on STM32 single chip microcomputer is developed,which can carry different functional modules such as camera to meet the needs of woodland operation such as pest monitoring of woodland.Combined with the road conditions of woodland,an accurate control system was designed to effectively improve the stability of the self-balancing car walking in woodland.The main research work of this paper is as follows:(1)The balance principle of the two-wheel self-balancing car is studied,and its model is simplified to construct its walking dynamics model on the flat road surface.Based on this,the uneven road condition of woodland is introduced to obtain its walking dynamics model on the uneven road surface of woodland.(2)Based on the classical control strategy,combined with the working environment of the system,the fuzzy control and PID control are combined as the control strategy of the system to improve the adaptability of the control system.The fuzzy rules are coded,and the glowworm swarm optimization algorithm with improved search step size is introduced to improve the objectivity of fuzzy rules and enhance the performance of the system.In the MATLAB/Simulink environment,the control system of the car on the uneven road surface of the woodland is simulated to verify the rationality of the designed control system.(3)Based on the modular design idea,the woodland self-balancing car control system is constructed.The hardware system of the balance car includes 7 parts,such as main control module,sensor module and drive module,so as to replace the subsequent components and debug the system.Draw the main program flow chart of the system and the program flow chart of each sub-module.Use Keil uVison5 software to complete the corresponding program and burn it to the system to realize the self-balancing function of the car walking in the woodland.(4)Complete the trial production of the woodland self-balancing car prototype and test it in the woodland.The stability and walking performance of the woodland self-balancing car are tested,and the rationality of the car control system is verified,which provides technical support for the subsequent optimization of the woodland self-balancing car.