Abstract
A new steering mechanical structure and an improved control method of the manned self-balanced vehicle are presented in this Letter. An effective method is introduced to calculate the real-time inclination of the vehicle. Then, the integrating inclination of the vehicle could be obtained by the complementary filter and proportional derivative (PD) algorithm. In addition, the control system could be regarded as a linear superposition of three parts, including the balance control, the speed control and the steering control. Moreover, the proportional, integral and derivative (PID) parameters of the whole control system are different under different operational conditions. Furthermore, the pressure sensors placed on the left and right pedals could detect the change of the weight, which simplifies the mechanical structure and improves the flexibility of the manned steering. The experiments in the prototype are designed to prove the steering structure and the improved method.
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