Abstract
This paper investigates the controls of straight running and turning of a different-axis two-wheeled self-balancing (DATWSB) vehicle. The inverted pendulum system (IPS) with gyroscopic effect is used to describe the uncertainty caused by the working conditions. Based on the generalized coordinate systems, the nonlinear mathematical model of the IPS is established according to Lagrange equation. The sliding mode controller (SMC) and adaptive sliding mode controller (ASMC) are respectively designed to control the system, in which the roll angle feedback is used. The simulation results of three models with/without the controllers are presented, which indicate that the ASMC can make the IPS recover upright faster in straight running, and better achieve the desired roll angle in turning compared with the SMC. Bikesim, a commercial software, is used to build a two-wheeled vehicle model with self-balancing function in combination with Matlab/Simulink. The results show that the ASMC can guarantee the anti-interference and turning abilities of the DATWSB vehicle.
Highlights
In recent years, two-wheeled self-balancing (TWSB) vehicles have begun to be welcomed by more and more green-travel enthusiasts because they are energy-saving and environmentally friendly, and have the advantages of simple structure, flexible operation, and portability [1].In 1986, Yamato Gaoqiao, professor of Tokyo Electric Communication University, designed a small electric vehicle with two wheels placed left and right, due to the limitation of sensor technology and computer technology at that time, the self-balance control effect of this vehicle was not good, so it had not received much attention [2]
It can be concluded from the above analysis that when the reference roll angle is small, both sliding mode controller (SMC) and adaptive sliding mode controller (ASMC) can ensure that the inverted pendulum system (IPS) can reach the required roll angle value, while the ASMC can provide a larger torque for the IPS to turn, and the adjusting time needed is shorter
The results show that the response of the Bikesim model under the turning condition is the same as that of the IPS model, so the ASMC can effectively guarantee the turning ability of the different-axis twowheeled self-balancing (DATWSB) vehicle
Summary
Two-wheeled self-balancing (TWSB) vehicles have begun to be welcomed by more and more green-travel enthusiasts because they are energy-saving and environmentally friendly, and have the advantages of simple structure, flexible operation, and portability [1]. The innovations of this paper are as follows: (1) The research object is the DATWSB vehicle with two gyroscopes, which is quite different from the coaxial TWSB vehicle widely studied at present; (2) In the process of dynamic modeling, the DATWSB vehicle with gyroscopes is simplified to an IPS with gyroscope effect, and Lagrange equation is used to carry out the mathematical modeling; (3) Considering the nonlinearity, parameter uncertainty and disturbance of the system, the SMC and adaptive sliding mode controller (ASMC) are designed to control the balances of the DATWSB vehicle in straight running and turning; (4) The SMC and ASMC of the DATWSB vehicles are simulated, and the response curve, required effective torque and robustness are compared; (5) Combined with Bikesim and Matlab/Simulink, a TWSB vehicle model is established.
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