Study on Two-Wheeled Self-Balancing Electric Vehicle Based on Fuzzy PD Control Algorithm

Abstract

A Two-Wheeled Self-Balancing Electric vehicle control system was developed base on the system design, hardware development and software strategies.The paper designed the posture acquisition module by gyroscopes and accelerometer sensors, and improved the control ccuracy using Calman filtering algorithm. Based on the system structure model, construction of Two-Wheeled Self-Balancing Electric vehicle dynamic equations by using the analysis method of Newtonian echanics was developed.A fuzzy PD controller was designed,the displacement and velocity as the input variable is controlled by fuzzy controller, and the tilt angle and angular velocity is controlled by PD controller. Finally, the platform of real-time control system was established for parameters adjustment and real-time control.Experiments show that the system has good robustness,high real-time response and has a higher market value.

Control of Different-Axis Two-Wheeled Self-Balancing Vehicles

“…Various control methods, such as the closed-loop PID, fuzzy PID, linear feedback control (LFC) and adaptive control, were used in the control of TWSB vehicles. A lowcost hardware platform was developed and the closed-loop PID controllers were designed to maintain the balance of the TWSB vehicle [4]. Authors in [5] designed a double closedloop PD controller to stabilize the tilt angle of the TWSB vehicle model, but the classical input-output feedback cannot eliminate the influence of the coupling term, and cannot effectively control the precession angle back to zero.…”