Control System of Two-Wheel Self-Balancing Vehicle

doi:10.1007/s12204-021-2361-x

Abstract

Abstract: This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models. Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced, including those concerning balance control, speed control and direction control. An improved cascade coupling control scheme is proposed for two-wheel vehicles, based on a proportional-integral-derivative (PID) control algorithm. Moreover, a thorough comparison between a classic control system and the improved system is provided, and all aspects thereof are analyzed. It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable, enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.

Key words: two-wheel self-balanced vehicle, proportional-integral-derivative (PID) control, cascade control, ve-hicle attitude detection, vehicle balance control

CLC Number:

U 471

REN Haoa∗ (任淏), ZHOU Congb (周聪). Control System of Two-Wheel Self-Balancing Vehicle[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(5): 713-721.

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