【摘 要】
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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 conc
【机 构】
：
College of Automation and Artificial Intelligence,Nanjing University of Posts and Telecommunications
论文部分内容阅读
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.
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