Design and Implementation of Self-Balancing Electric Vehicle Control System

Ben Sheng Qi; Kang Wang; Xuan Xuan Xiao; Hong Xia Miao

doi:10.4028/www.scientific.net/AMM.738-739.950

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 738-739Design and Implementation of Self-Balancing...

Design and Implementation of Self-Balancing Electric Vehicle Control System

Abstract:

In order to further optimize the control system of self-balancing electric vehicle, the method of linear quadratic regulator (LQR) based on genetic algorithm (GA) was presented in this paper. Firstly, the mathematical model of self-balancing electric vehicle was established by Lagrange equation, and then matrix Q and R in LQR which is used to control self-balancing electric vehicle system were optimized by GA. Thus the optimal control of self-balancing electric vehicle control system was realized. The optimization method was proved to be effective by comparing the simulation results of the optimized controller with the original.

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Periodical:

Applied Mechanics and Materials (Volumes 738-739)

Pages:

950-954

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.738-739.950

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Online since:

March 2015

Authors:

Ben Sheng Qi*, Kang Wang, Xuan Xuan Xiao, Hong Xia Miao

Keywords:

Controller, Genetic Algorithm (GA), Linear Quadratic Regulator (LQR), Self-Balancing Electric Vehicle

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* - Corresponding Author

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