Abstract
In order to reduce the carbon emission, saving fuel energy and for the convenience of personal transportation in urban area, a two-wheel-driven self-balancing vehicle was developed, which utilize the well-known inverted pendulum control technique, can carry one person and travels at a maximum speed of 20km/h. The vehicle which is called “Tiny” ， consists up of two brushless DC motors, the motors are placed coaxially. A gravity sensor and a gyro are mounted on the vehicle, signals from the two sensors are combined with Kalman Filter to indicate the tilt angle of the vehicle. By controlling the tilt angle to be 0 degree (which means the vehicle body is perpendicular to ground), the vehicle can perform travelling forward and backward. In this paper, the implementation of the Kalman filter is discussed by using Matlab simulations, and the mathematical model of the vehicle is also presented, then the controlling diagram is presented. In the end of this paper, some experimental parameter is presented.
Highlights
In recent years, researching in self-balancing vehicles, which typically consist up of two wheels in coaxial and a standing platform, works as an inverted pendulum, are drawing more and more attention from both researchers and public. Among this kind of vehicles, the most famous is Segway, which is a kind of standing-driving selfbalancing vehicle, with a maximum speed of 10km/h
Tiny consists up of aluminum alloy chassis and two co-axially placed wheels; each of them is driven by two geared BLDC motors
Where N represents the lateral reaction force applied to the wheel axis by the chassis and driver
Summary
In recent years, researching in self-balancing vehicles, which typically consist up of two wheels in coaxial and a standing platform, works as an inverted pendulum, are drawing more and more attention from both researchers and public. Among this kind of vehicles, the most famous is Segway, which is a kind of standing-driving selfbalancing vehicle, with a maximum speed of 10km/h. Later EN-V was development by GM and SAIC, which is expected to be commercially available in 2030 This kind of vehicle provides us a completely new way in solving traffic and pollution issues: Driving by electric makes them environmental-friendly, small size and flexible running style(including zero-radius turning) enable them to travel smoothly in city streets.
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