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

Zheng Cai Yang; Bao Hua Wang

doi:10.4028/www.scientific.net/AMR.1056.162

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 1056Study on Two-Wheeled Self-Balancing Electric...

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.

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Periodical:

Advanced Materials Research (Volume 1056)

Pages:

162-165

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.1056.162

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Online since:

October 2014

Authors:

Zheng Cai Yang*, Bao Hua Wang

Keywords:

Fuzzy Control, Pd, Self-Balancing, Two-Wheeled

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* - Corresponding Author

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