Research on Double Cascade Control Algorithm for Self-Balancing Two-Wheeled Vehicle
نویسنده
چکیده
To solve the problem of self-balancing two-wheeled vehicle, this article presents double cascade PID control algorithm. This method reduces the coupling of balance control, speed control and direction control, because of the special system structure. This article successfully solved the sensor fusion of gyroscope and accelerometer by using Kalman filtering algorithm, and adding in fuzzy PID algorithm to improve the flexibility of the steering system, thus greatly improving the accuracy and response rate of the system.
منابع مشابه
Nonlinear Modeling and Optimal Output Control of Two Wheeled Balancing Transporter
In this paper an optimal controller is proposed for a self-balancing electrical vehicle called Segway PT. This vehicle has one platform and two wheels on the sides and the rider stands on the platform. A handlebar, as a navigator, is attached to the body of Segway, with which the rider controls the vehicle. Since Segway uses electrical energy produced by batteries, resource consumption manageme...
متن کاملDynamic Modeling and Construction of a New Two-Wheeled Mobile Manipulator: Self-balancing and Climbing
Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...
متن کاملStability of Three-Wheeled Vehicles with and without Control System
In this study, stability control of a three-wheeled vehicle with two wheels on the front axle, a three-wheeled vehicle with two wheels on the rear axle, and a standard four-wheeled vehicle are compared. For vehicle dynamics control systems, the direct yaw moment control is considered as a suitable way of controlling the lateral motion of a vehicle during a severe driving maneuver. In accorda...
متن کاملFuzzy Vehicle Dynamic Control for a Three-Wheeled Vehicle Using Tilt Mechanism
Nowadays, the use of small vehicles is spreading among urban areas and one sort of these vehicles are three-wheeled vehicles (TWVs) which can be competitive with four-wheeled urban vehicles (FWVs) in aspects such as smallness, simple manufacturing, and low tire rolling resistance, fuel consumption and so on. The most critical instability associated with TWVs is the roll over. In this paper a ti...
متن کاملHierarchical Reinforcement Learning Based Self-balancing Algorithm for Two-wheeled Robots
Abstract: Self-balancing control is the basis for applications of two-wheeled robots. In order to improve the self-balancing of twowheeled robots, we propose a hierarchical reinforcement learning algorithm for controlling the balance of two-wheeled robots. After describing the subgoals of hierarchical reinforcement learning, we extract features for subgoals, define a feature value vector and it...
متن کامل